Octomap_server doesn't create any map

asked 2022-03-18 09:10:57 -0500

Jeonghyun Ryu gravatar image

Hi, I'm using rosbag data and FAST_LIO slam package. And I want to convert PointCloud2 sensor data to OccupancyGrid data, and finally make a 2d map & want to show on rviz.

So I launched rosbag file, FAST_LIO package, and octomap_mapping.launch in octomap_server package.

I checked the sensor's PointCloud2 data, odometry between map and base frame is publishing well. Also, /tf topic (between map and base) is publishing into octomap_server. But the final map isn't being created.

<launch> <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">

    <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
    <param name="frame_id" type="string" value="camera_init" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="50.0" />

    <!-- data source to integrate (PointCloud2) -->
    <remap from="cloud_in" to="/points_raw" />
    <param name="base_frame_id" value="body" />



map frame : camera_init base frame : body sensor frame : velodyne

Anyone can help me??? I'm new in this field, so I can upload more snapshots if you want.

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