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saving pcd map for ccny_rgbd package

ccny_rgbd

asked 2013-03-28 05:49:34 -0600

zahid
81 ●4 ●4 ●7

Hi,

I have tried the instructions on the wiki page of ccny_rgb package.

After running the following sequence of commands,

roslaunch ccny_openni_launch openni.launch publish_cloud:=true

roslaunch ccny_rgbd vo+mapping.launch

the map can be seen in rviz (sometimes it doesn't work but after restarting all nodes, it works) but after running

rosservice call /save_full_map "mymap.pcd"

it gives the following error:

ERROR: Service [/save_full_map] is not available.

However with rosservice list, a different service "/save_pcd_map" can been seen and after calling this service no error occurs but no map is saved as well.

rosservice call /save_pcd_map "mymap.pcd"

Did someone try this or have some suggestion how to save a map for this package? I tried it on Ubuntu 12.04 using ros fuerte.

Thank you in advance,

Zahid

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1 Answer

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answered 2013-05-15 09:01:19 -0600

usman
81 ●4 ●4

I have tried it earlier and it works fine on Fuerte. You are right, the name of service has changed [Wiki-help needs to be updated].

Here is how to save the Pcd file:

rosservice call /save_pcd_map /home/your_user_name/my_map.pcd

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Yes, the service name changed, but I haven't updated the wiki yet. The change was due to the fact that there are now 2 formats for the full map: pcd and octomap, hence the /save_pcd_map and /save_octomap services