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Can Octomap use multiple point clouds as sources?

octomap_server

asked 2012-09-18 06:41:37 -0500

Thomas D

4347 ●33 ●65 ●86 http://denewiler.us/cv

I have a laser producing a point cloud on topic /laser/points2 and a stereo camera pair producing a point cloud on topic /stereo/points2. The subscribed topics of octomap_server shows that it listens for the topic cloud_in. Currently, I am remapping with

<remap from="cloud_in" to="laser/points2"/>

If I then add

<remap from="cloud_in" to="stereo/points2"/>

then octomap_server only subscribes to /stereo/points2. Is there a way to configure octomap_server to subscribe to multiple point clouds? I realize it will be up to me to make sure that the points in the different point clouds are aligned properly through calibration, /tf, and timing offsets. Thanks.

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answered 2012-09-18 06:57:23 -0500

Lorenz

22731 ●129 ●202 ●316 http://ias.in.tum.de/p...

updated 2012-09-18 06:58:50 -0500

I would do the remapping the other way around. Make both point clouds publish to the same topic by adding remappings to the sensor nodes.

Alternatively, you can set up a relay using the topic_tools relay. Just relay both point clouds to the same topic and remap octomap's cloud_in topic to it.