Octomap_server publishes complete or partial maps?

asked 2020-12-24 11:38:11 -0500

pickles gravatar image

I am currently trying to use the octomap_server package to generate occupancy grids and Rviz is able to visualise the projected map as I move my camera around (generating point clouds), however, I am wondering which of the following is true?

  1. Each nav_msgs/OccupancyGrid message published corresponds to a particular point cloud fed to octomap_server and RVIZ just accumulates the cells in the visualiser as it recieves more and more messages, giving the impression of a map being 'built' over time.
  2. nav_msgs/OccupancyGrid messages published in /projected_map are actually complete maps built up octomap_server from the point cloud messages.
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