octomap_ros on ros 2 humble
Hello,
Both octomap and octomap_ros are available on ros 2 humble, as debian packages. But the documentation linked is for ros noetic. Making some google searches on the subject I understood that there are no step-by-step tutorials on octomap ros 1 nor ros 2 - so I tried experimenting, and got some success but I have some questions.
Can octomap_server take pointcloud2 data directly from sensor, such as zed2i's zed2i/zed_node/depth/depth_registered topic, or does it have to rely on another mapper such as rtabmap? Can octomap work standalone, as a replacement to rtabmap, or it needs rtabmap or some other node to run and process the point cloud. zed2i's output is sensor_msgs/msg/PointCloud2 and this is what octomap expects but, for some reason it will not publish /octomap_binary nor /octomap_full
instead of zed2i's point cloud data, I have feeded in /voxel_cloud from rtabmap, and octomap then somewhat works. there is nothing about this in the documentation
at the beginning octomap prints a warning about not being able to opening a path. in the source code:
const auto filename = declare_parameter("octomap_path", ""); if (!openFile(filename)) { RCLCPP_WARN(get_logger(), "Could not open file %s", filename.c_str()); }
Does octomap expect a .bt file always, or can it operate without a bt file
Best regards, Can Altineller
[edit]
on further inspection, i found out that rtabmap also publishes octomap topics under /rtabmap/octomap ... is this embedded to rtabmap now, and we use octomap to just save produced map?
