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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
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
Thanks for answering the question and also for asking it! Its page http://wiki.ros.org/octomap_server isn't detailed enough like that.
Asked: 2020-09-21 16:03:10 -0500
Seen: 960 times
Last updated: Sep 22 '20
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