How to set "height_map" to false in octomap_server?
Hi everyone! Here is my launch file,I want to create the octomap by calling "octomap_server" from this launch file. "height_map" defaults to "true",it mens octomap with heigth color. but I don't want to create octomap with heigth color.I've set “height_map” to "false" in my launch file,however,The octomap still has height color Here is wiki about "octomap_server": http://wiki.ros.org/octomap_server Many thanks!!!
<launch>
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<!-- resolution in meters per pixel -->
<param name="resolution" value="0.05" />
<!-- name of the fixed frame, needs to be "/map" for SLAM -->
<param name="frame_id" type="string" value="/world" />
<!-- height_map (bool, default: true) Whether visualization should encode height with different colors -->
<param name="height_map" value="false" />
<!-- max range / depth resolution of the kinect in meter -->
<param name="sensor_model/max_range" value="100.0" />
<param name="latch" value="true" />
<!-- max/min height for occupancy map, should be in meters -->
<param name="pointcloud_max_z" value="1000" />
<param name="pointcloud_min_z" value="-100" />
<!-- topic from where pointcloud2 messages are subscribed -->
<remap from="/cloud_in" to="/output" />
</node>
<node pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find publish_pointcloud)/rviz/mapping.rviz"/>
</launch>