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Storing PointCloud2 type msgs in an octomap

Hello everyone,

I am receiving a pointCloud2 type messages by subscribing to a topic, in my code. Now I need to build an octomap from this. I am currently using Groovy and Octomap libraries for ROS Groovy.

I have gone through the documentation of octomap, but couldn't retrieve much from that. The function octomap::insertPointCloud() is somewhat close to my requirement.


Is there a way to create an octomap using this API for the callback being received ? And can I eventually write an octomap-file to the disk using some function ?


I have gone through few threads like this also but not able to get a concrete idea. http:// answers.ros.org/question/89906/how-to-generate-an-octomap-from-a-point-cloud-with-hydro/

I'd be grateful if someone can point me to an example code for the same or the order we need to follow to achieve this ?

Thanks.