Octomap visualization

asked 2020-08-24 12:17:01 -0500

bgraysea gravatar image

updated 2020-08-25 11:30:31 -0500

I may be hitting an issue running rViz in a docker container with a Radeon GPU. I would appreciate any tips on the below to try and debug it further. I have sensing running in Gazebo; and when running with a nvidia GPU the octo map gets populated in rViz. On my PC which has a Radeon GPU; the octo map does not get populated. Some more detail are in ros-planning/moveit#2234.

As I understand; the octo map occupancy is being maintained within moveit. I can see point cloud data on the point_cloud_topic of the sensors config.

I don't see messages getting published to (edit) octomap_binary. C:\fakepath\Screenshot from 2020-08-25 17-27-24.png

But I do see logs such as the below

[DEBUG] [1598288357.338878805, 1305.148000000]: Received a new point cloud message

which comes from pointcloud_octomap_updater.cpp so that seems good.

If the occupancy map data is being published from the move_group; which topic should I be able to see the data in?

If I can't see any data in the occupancy map topic; any suggestions on how to debug further would be welcome. Does the publish step happen around occupancy_map_server.cpp ?

Are there any guides on how to use breakpoints and debug through source code? If I built the some of the moveit packages from source; does any of the plug-in architecture need special consideration for setting break points?

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Small comment:

I don't see messages getting published to octomap_msgs/Octomap.

octomap_msgs/Octomap is a message type, not a topic name afaik.

gvdhoorn gravatar image gvdhoorn  ( 2020-08-25 03:12:41 -0500 )edit

ahhh; right; likely I should be looking for octomap_binary

bgraysea gravatar image bgraysea  ( 2020-08-25 03:26:24 -0500 )edit

I edited my question to refer to the updated topic name (not that sure its the correct one; but octomap_msgs/Octomap is defo wrong) - and I don't see a topic called octomap_binary

bgraysea gravatar image bgraysea  ( 2020-08-25 11:31:56 -0500 )edit