AHornung's profile - activity

There is no function toBoxes defined in OctoMap, so that code won't work. Best refer to the official OctoMap documentation.

According to your config in the launch file, you are mapping in the odom frame, so you only use odometry. Accumulated error will cause a drift in the position estimate. So errors when re-visiting known areas are to be expected.

As mentioned in the comment above that line in the launch file, you need to switch to mapping in your actual map frame when using a localization source or SLAM.

The end points and scans with poses are stored in a format proprietary for OctoMap. The OctoMap tool "graph2tree" can read them, so your best starting point would be to have a look at the file graph2tree, specifically ScanGraph::readBinary(...).

However, there is no color information stored in them.

Instead, use the octomap_rviz_plugins package. It will directly create a visualization in RViz out of the serialized octomap.

Most of the memory consumed by octomap_server is actually for the different kinds of visualizations, not for the octomap itself. You can reduce the memory usage by not subscribing to the PointCloud and voxel visualizations (they thus won't be created).

Actually, it was the devel job that started failing recently: http://jenkins.ros.org/job/devel-hydro-octomap/

Do you suggest that cmake-style packages should be removed from the prereleases then? E.g. the "octomap" repo started to fail only recently but was working before. If that's as intended then it should be communicated somewhere, e.g. by refusing "cmake" jobs outright.

There is an OcTreeStamped class in OctoMap that can be used for this purpose (but you will have to implement it). In fact, the decaying was implemented just like that in the collider package (by now superseded by MoveIt and octomap_server).

Odometry usually comes from wheel encoders or kinematics, that's the assumption in humanoid_localization. A LRF is not an odometry source but with a fixed map will give you absolute references in the world (in addition to odometry that is subject to drift and only used incrementally).