Ask Your Question
0

unable to visulize PointCloud using octomap_mapping

asked 2019-12-17 02:00:00 -0600

zhefan gravatar image

updated 2019-12-17 07:26:34 -0600

I am using Turtlebot3 Burger in gazebo simulation. Since it does not have pointcloud2 data, I use laser_geometry package to convert the scan data into pointcloud2. I want to use the octomap_mapping in octomap_server to visualize the pointcloud data. Based on some instructions, I modified the octomap_mapping.launch: <remap from="cloud_in" to="pc"/> where "pc" is the pointcloud2 converted by laser_geometry.

But when I open rviz and use MarkerArray to visualize the occupied cell, it does show anything. I tried to look at the message in the /occupied_cells_vis_array, and It says no message warning.

Could anyone help me figure out what is going wrong? I am really new to ROS, thanks for patience.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2020-01-15 20:49:02 -0600

Namal Senarathne gravatar image

My guess is that you have a timestamp issue in your publishing of pointcloud2 message from the laser data. octomap_server integrates pointclouds to the OctoMap only if there's a valid transformation between the frame of the point cloud and the fixed frame specified for octmap_server. So I would double check the timestamps of the generated pointclouds to see if they match with the current ROS time.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2019-12-17 02:00:00 -0600

Seen: 36 times

Last updated: Jan 15