Octomap visualization
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.
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?
Small comment:
octomap_msgs/Octomap is a message type, not a topic name afaik.
ahhh; right; likely I should be looking for octomap_binary
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