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How to implement octomape on Ros-Melodic⁷

asked 2020-09-21 16:03:10 -0600

MjdKassem gravatar image

Hi I have 3d point collection defined at (x,y,z), I have published these points via sensor_msgs/pointcloud2 , now I am trying to map these messages with octomap, please I need the command list to install octomap on melodic and run it around my pointcloud2 message, at github I can not find the version for melodic Thank you

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answered 2020-09-22 00:16:15 -0600

Solrac3589 gravatar image

updated 2020-09-22 00:27:13 -0600

Hello.

Next time try to do a search before ask, please!

here you have the package http://wiki.ros.org/octomap_server.

So

sudo apt-get install ros-melodic-octomap ros-melodic-octomap-server ros-melodic-octomap-mapping ros-melodic-octomap-ros ros-melodic-octomap-msgs

then just run:

roslaunch octomap_server octomap_mapping.launch

btw your pointcloud has to be named cloud_in, or do a remap to change it's name to /narrow_stereo/points_filtered2. so, in you launch file you should add:

<remap from="cloud_name" to="/narrow_stereo/points_filtered2" />

And you have to define the global frame as a parameter (check the wiki) by default is /map but maybe is not your case. You have to publish also a transform between this frame and the sensor data frame if you don't know how, here you have tutorial (http://wiki.ros.org/tf/Tutorials).

I think that's all! Hope it works

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Thanks for answering the question and also for asking it! Its page http://wiki.ros.org/octomap_server isn't detailed enough like that.

hesham gravatar image hesham  ( 2021-12-06 03:50:43 -0600 )edit

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Asked: 2020-09-21 16:03:10 -0600

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Last updated: Sep 22 '20