Octomap node too sparse

I am visualizing the node on rviz and it seems like at some tree depth. (14 for example). The node will become too sparse. Is there anyways to fill in all the empty space in between? I need Octomap for obstacle detection and I am worried that ray tracing will be problematic due to all the empty spaces.

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Asked by Kolohe113 on 2022-01-25 11:10:57 UTC

Comments

Hi @Kolohe113 have you tried a padding_scale value greater than 1?

MoveIt Tutorial: https://ros-planning.github.io/moveit_tutorials/doc/perception_pipeline/perception_pipeline_tutorial.html

The definition of padding_scale is not very good in the tutorial, but you can refer to this discussion as it explains how to interpret it: https://github.com/ros-planning/moveit_ros/issues/342

Asked by osilva on 2022-01-25 13:28:50 UTC

@osilva Oh, I was not using moveit. Just Octomap

Asked by Kolohe113 on 2022-01-25 14:53:29 UTC

sorry @Kolohe113 please disregard comment.

Asked by osilva on 2022-01-25 14:58:33 UTC