Octomap_server publishes complete or partial maps?
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?
- Each
nav_msgs/OccupancyGrid
message published corresponds to a particular point cloud fed tooctomap_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. nav_msgs/OccupancyGrid
messages published in/projected_map
are actually complete maps built upoctomap_server
from the point cloud messages.
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