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publish only current cloud as octomap

Hi there, I want to do some comparisons between a global octomap and a local one, in order to detect new obstacles in the scene. For this, my proposed solution is to publish a stored octomap as global map and then with the input cloud from the sensor, obtain the local octomap and compare both of them. For this, I am launching two octomap_servers

My problem is that octomap_server keeps building an incremental map, and after a few scans the octomap will be too large to be traversed at high frequency. In this post http://answers.ros.org/question/118871/create-an-occupancy-grid-map-from-octomap/ they suggest just to copy, paste and adapt code, but I wonder if there is a way to get ONLY the octomap from the last point cloud from the sensor.

Thank you!

publish only current cloud as octomap

Hi there, I want to do some comparisons between a global octomap and a local one, in order to detect new obstacles in the scene. For this, my proposed solution is to publish a stored octomap as global map and then with the input cloud from the sensor, obtain the local octomap and compare both of them. For this, I am launching two octomap_servers

My problem is that octomap_server keeps building an incremental map, and after a few scans the octomap will be too large to be traversed at high frequency. In this post (which is not very related actually) http://answers.ros.org/question/118871/create-an-occupancy-grid-map-from-octomap/ they suggest just to copy, paste and adapt code, but I wonder if there is a way to get ONLY the octomap from the last point cloud from the sensor.

Thank you!