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can not save map with octomap_server / octomap_saver from rgbdslam ROS Fuerte

Hi,

I have seen on this ROS Answer topic that someone already had trouble saving maps from rgbd slam using octomap. I have exactly the same problem, I click on "Graph" -> Send Model (ctrl+M) inside the rgbdslam window, the model and the map seem to be sent correctly (30 out of 30 nodes, for example), but when I run "rosrun octomap_server octomap_saver mymap.bt" there is only 1 node saved to the map file (so empty map in octovis).

Let me explain my setup : rgbdslam from the wiki svn, adapted with many efforts to be used in fuerte and built with rosmake. I can capture a scene (by pressing space), but no map can be saved with octomap_saver as said above.

I have also set up the octomap_mapping.launch file accordingly (fixed frame "openni_camera" and "cloud_in" remapped to "/rgbdslam/batch_clouds").

I am also using the experimental branch of octomap. Here are the steps that I did to build it in ROS Fuerte:


downloaded mapping_msgs from svn (ros wiki) downloaded point_cloud_perception from svn (ros wiki) downloaded geometric_shapes_msgs from svn (ros wiki) downloaded octomap_mapping-experimental from svn https://alufr-ros-pkg.googlecode.com/svn/branches/octomap_mapping-experimental/

Error : /home/micmac/fuerte_workspace/octomap_mapping-experimental/octovis/src/octovis/TrajectoryDrawer.cpp:63:5: erreur: ‘GLUquadricObj’ was not declared in this scope

> Edited /home/micmac/fuerte_workspace/octomap_mapping-experimental/octovis/src/octovis/TrajectoryDrawer.h to add #include <GL/glu>

> and added GL and GLU to target_link_libraries to octomap_mapping-experimental/octovis/CMakeLists.txt

Error: /home/micmac/fuerte_workspace/octomap_mapping-experimental/octomap_ros/src/conversions.cpp:45:114: erreur: explicit instantiation shall not use ‘inline’ specifier [-fpermissive] Error: /home/micmac/fuerte_workspace/octomap_mapping-experimental/octomap_ros/src/conversions.cpp:46:125: erreur: explicit instantiation shall not use ‘inline’ specifier [-fpermissive]

> Edited /home/micmac/fuerte_workspace/octomap_mapping-experimental/octomap_ros/src/conversions.cpp to remove 'inline' specifier on both lines 45 and 46

Then rosmake octomap_mapping-experimental : Built 39 packages with 0 failures


So both RGBDSLAM and octomap_mapping-experimental seem to run fine, but I can't save any map using "rosrun octomap_server octomap_saver mymap.bt"

I have also tried to publish a static transform from /rgbdslam/batch_clouds to octomap_server by adding this line to octomap_mapping.launch:

<node pkg="tf" type="static_transform_publisher" respawn="false" name="octomap_tf_conversion" args="0 0 0 0 0 0 /rgbdslam/batch_clouds /octomap_server 10" output="screen"/>

I must also precise that I am using the Asus Xtion Pro live cam, so the topics may be a little different here and there (camera_rgb_optical_frame instead of openni_rgb_optical_frame), but I also tried all the required changed without success.

Would you please have any advice to give me on how to save a map from rgbdslam with octomap_mapping ? I've been spending monthes on this without success so far...

can not save map with octomap_server / octomap_saver from rgbdslam ROS Fuerte

Hi,

I have seen on this ROS Answer topic that someone already had trouble saving maps from rgbd slam using octomap. I have exactly the same problem, I click on "Graph" -> Send Model (ctrl+M) inside the rgbdslam window, the model and the map seem to be sent correctly (30 out of 30 nodes, for example), but when I run "rosrun octomap_server octomap_saver mymap.bt" there is only 1 node saved to the map file (so empty map in octovis).

Let me explain my setup : rgbdslam from the wiki svn, adapted with many efforts to be used in fuerte and built with rosmake. I can capture a scene (by pressing space), but no map can be saved with octomap_saver as said above.

I have also set up the octomap_mapping.launch file accordingly (fixed frame "openni_camera" and "cloud_in" remapped to "/rgbdslam/batch_clouds").

I am also using the experimental branch of octomap. Here are the steps that I did to build it in ROS Fuerte:


downloaded mapping_msgs from svn (ros wiki) downloaded point_cloud_perception from svn (ros wiki) downloaded geometric_shapes_msgs from svn (ros wiki) downloaded octomap_mapping-experimental from svn https://alufr-ros-pkg.googlecode.com/svn/branches/octomap_mapping-experimental/

Error : /home/micmac/fuerte_workspace/octomap_mapping-experimental/octovis/src/octovis/TrajectoryDrawer.cpp:63:5: erreur: ‘GLUquadricObj’ was not declared in this scope

> Edited /home/micmac/fuerte_workspace/octomap_mapping-experimental/octovis/src/octovis/TrajectoryDrawer.h to add #include <GL/glu>

> and added GL and GLU to target_link_libraries to octomap_mapping-experimental/octovis/CMakeLists.txt

Error: /home/micmac/fuerte_workspace/octomap_mapping-experimental/octomap_ros/src/conversions.cpp:45:114: erreur: explicit instantiation shall not use ‘inline’ specifier [-fpermissive] Error: /home/micmac/fuerte_workspace/octomap_mapping-experimental/octomap_ros/src/conversions.cpp:46:125: erreur: explicit instantiation shall not use ‘inline’ specifier [-fpermissive]

> Edited /home/micmac/fuerte_workspace/octomap_mapping-experimental/octomap_ros/src/conversions.cpp to remove 'inline' specifier on both lines 45 and 46

Then rosmake octomap_mapping-experimental : Built 39 packages with 0 failures


So both RGBDSLAM and octomap_mapping-experimental seem to run fine, but I can't save any map using "rosrun octomap_server octomap_saver mymap.bt"

I have also tried to publish a static transform from /rgbdslam/batch_clouds to octomap_server by adding this line to octomap_mapping.launch:

<node pkg="tf" type="static_transform_publisher" respawn="false" name="octomap_tf_conversion" args="0 0 0 0 0 0 /rgbdslam/batch_clouds /octomap_server 10" output="screen"/>

I must also precise that I am using the Asus Xtion Pro live cam, so the topics may be a little different here and there (camera_rgb_optical_frame instead of openni_rgb_optical_frame), but I also tried all the required changed without success.

Would you please have any advice to give me on how to save a map from rgbdslam with octomap_mapping ? I've been spending monthes on this without success so far...

can not save map with octomap_server / octomap_saver from rgbdslam ROS Fuerte

Hi,

I have seen on this ROS Answer topic that someone already had trouble saving maps from rgbd slam using octomap. I have exactly the same problem, I click on "Graph" -> Send Model (ctrl+M) inside the rgbdslam window, the model and the map seem to be sent correctly (30 out of 30 nodes, for example), but when I run "rosrun octomap_server octomap_saver mymap.bt" there is only 1 node saved to the map file (so empty map in octovis).

Let me explain my setup : rgbdslam from the wiki svn, adapted with many efforts to be used in fuerte and built with rosmake. I can capture a scene (by pressing space), but no map can be saved with octomap_saver as said above.

I have also set up the octomap_mapping.launch file accordingly (fixed frame "openni_camera" and "cloud_in" remapped to "/rgbdslam/batch_clouds").

I am also using the experimental branch of octomap. Here are the steps that I did to build it in ROS Fuerte:


downloaded mapping_msgs from svn (ros wiki) downloaded point_cloud_perception from svn (ros wiki) downloaded geometric_shapes_msgs from svn (ros wiki) downloaded octomap_mapping-experimental from svn https://alufr-ros-pkg.googlecode.com/svn/branches/octomap_mapping-experimental/

Error : /home/micmac/fuerte_workspace/octomap_mapping-experimental/octovis/src/octovis/TrajectoryDrawer.cpp:63:5: erreur: ‘GLUquadricObj’ was not declared in this scope

> Edited /home/micmac/fuerte_workspace/octomap_mapping-experimental/octovis/src/octovis/TrajectoryDrawer.h to add #include <GL/glu>

> and added GL and GLU to target_link_libraries to octomap_mapping-experimental/octovis/CMakeLists.txt

Error: /home/micmac/fuerte_workspace/octomap_mapping-experimental/octomap_ros/src/conversions.cpp:45:114: erreur: explicit instantiation shall not use ‘inline’ specifier [-fpermissive] Error: /home/micmac/fuerte_workspace/octomap_mapping-experimental/octomap_ros/src/conversions.cpp:46:125: erreur: explicit instantiation shall not use ‘inline’ specifier [-fpermissive]

> Edited /home/micmac/fuerte_workspace/octomap_mapping-experimental/octomap_ros/src/conversions.cpp to remove 'inline' specifier on both lines 45 and 46

Then rosmake octomap_mapping-experimental : Built 39 packages with 0 failures


So both RGBDSLAM and octomap_mapping-experimental seem to run fine, but I can't save any map using "rosrun octomap_server octomap_saver mymap.bt"

I have also tried to publish a static transform from /rgbdslam/batch_clouds to octomap_server by adding this line to octomap_mapping.launch:

<node pkg="tf" type="static_transform_publisher" respawn="false" name="octomap_tf_conversion" args="0 0 0 0 0 0 /rgbdslam/batch_clouds /octomap_server 10" output="screen"/>

I must also precise that I am using the Asus Xtion Pro live cam, so the topics may be a little different here and there (camera_rgb_optical_frame instead of openni_rgb_optical_frame), but I also tried all the required changed without success.

Would you please have any advice to give me on how to save a map from rgbdslam with octomap_mapping ? I've been spending monthes on this without success so far...