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how to use octomap_server?

asked 2020-09-18 05:25:34 -0500

sujiko gravatar image

Hello, everyone.

I have an already created .ot file at hand and I want to use rviz and octomap_server to display Octomap on rviz, but I don't know how to use octomap_server.

Can someone teach me how to use Octomap_server? If I may, I'd also like to know how to display octomap on rviz.

Thank you for your help.

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answered 2021-03-25 02:35:58 -0500

mohamed ahmed gravatar image

To launch octomap_server add the following to your launch file:

  <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
                <param name="resolution" value="$(arg map_resolution)" />
                <param name="frame_id" type="string" value="map" />
                <param name="sensor_model/hit" value="0.8" />
                <param name="sensor_model/miss" value="0.3" />
                <param name="sensor_model/max_range" value="20.0" />
                <param name="occupancy_min_z" value="0.8" />
                <param name="occupancy_max_z" value="10.0" />
                <param name="pointcloud_min_z" value="0.8" />
                <param name="pointcloud_max_z" value="10.0" />
                <remap from="cloud_in" to="/depth/points" />
  </node>

Here you can find all the parameters, topics and services related to octomap_server, set it to your needs.

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Comments

The way to pass the .ot or .bt file would be to add args="<path-to-ot-or-bt-file>" in the 1st line.

For example, <node pkg="octomap_server" type="octomap_server_node" name="octomap_server" args="my_map.bt">

user1928 gravatar image user1928  ( 2023-08-07 18:15:16 -0500 )edit

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Asked: 2020-09-18 05:25:34 -0500

Seen: 557 times

Last updated: Mar 25 '21