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I have an octomap and trying to do localization with it. I trying to make a slice from a 3d-map (octomap) to consider a single 2d plane for localization with amcl package. I uploaded the map in rviz using octomap_server_node,

$ rosrun octomap_server octomap_server_node bin.bt _occupacy_min_z:=-0.01 _occupancy_max_z:=0.01

I tried different z values in different maps, though I cannot find how the z-values are distributed in the z-axis. I would like to find where the zero of the z-axis lies and I believe that z-values are in meter.

Bottom line is how to slice the 3d map to get a single 2d plane.

Thanks in advance for your suggestions.

Updated:

The resolution=0.025, so i started bigger values. I use rviz to visualize the map, after using the above command. Either I use values in negative z-plane (ex. {-0.05,0} or positive z-plane {0,0.05}, always the map lies in negative plane of the z-axis (which is viewed in 'rviz'). Also, it seems to be more thicker in z-axis for thickness 0.05m.

I am in a situation such that to use both diamondback and electric. Is it possible to use both the versions of ros in a same operating system?

If possible, how?

Thanks in advance for your suggestions.

I am using ROS- electric. Now, I am able to built a octomap with the help of RGBDSLAM package. The map is in format '.bt'. Is there any packages available for doing localization and navigation in 3D using this octomap?

Note:localization should be done without using laser.

I tried using SIFTGPU with rgbdslam to built a map. I launched rgbdslam.launch file for using SIFTGPU.

While, I tried mapping with this file. I got error -> Can't create OpenGL context! SiftGPU cannot be used.Detection of keypoints failed

NOTE: Also, in the launch file i don't understand the comment => If SIFTGPU is enabled in CMakeLists.txt, use SURF here

And I would like to use ORB in rgbdslam.

Any suggestions about this error and ideas to use ORB?

Thanks in advance for your suggestions.

How to install octovis for ros-electric?

I tried $ sudo apt-get install ros-electric-octomap-visualization. But it reported can't locate the package.

Then I read some of the discussions in ros.answers and tried from $ svn co https://octomap.svn.sourceforge.net/svnroot/octomap/trunk octomap and compiled using commands cmake and make

after that in the terminal I typed command $ ocotovis It says command not found.

Any solutions?

Thanks in advance

Updated: Also, while compiling I see the compilation is successful. I can see files inside folder build, bin and lib. Though, I am unable to open the octovis GUI. I used the above command to open that.

I built a octomap using rgbdslam package from ros. Now, I have a built map. It consists only the depth information or pose of the objects in 3D. If I use kinect for navigation it will not able avoid the object within distance 1.2m (minimum range of kinect depth sensor).

1. Is there any available alternatives for the depth sensor to avoid object with in 1.2m?
2. Or any alternatives (like other type of map from same algorithm or any)?

Thank you in advance for the suggestions.

I am using ros-fuerte. I used rgbdslam package to built a map. I saved the map as 'name.bt'. When I am trying to view it using rosrun octovis octovis <filename.bt>

I got the error octovis stack/package not found.

But I checked the installed location using '$ dpkg -L ros-fuerte-octovis'

I got output as:

/. /usr /usr/share /usr/share/doc /usr/share/doc/ros-fuerte-octovis /usr/share/doc/ros-fuerte-octovis/changelog.Debian.gz /usr/share/doc/ros-fuerte-octovis/copyright /opt /opt/ros /opt/ros/fuerte /opt/ros/fuerte/bin /opt/ros/fuerte/bin/octovis /opt/ros/fuerte/include /opt/ros/fuerte/include/octovis /opt/ros/fuerte/include/octovis/TrajectoryDrawer.h /opt/ros/fuerte/include/octovis/ColorOcTreeDrawer.h /opt/ros/fuerte/include/octovis/SelectionBox.h /opt/ros/fuerte/include/octovis/OcTreeDrawer.h /opt/ros/fuerte/include/octovis/OcTreeRecord.h /opt/ros/fuerte/include/octovis/PointcloudDrawer.h /opt/ros/fuerte/include/octovis/SceneObject.h /opt/ros/fuerte/lib /opt/ros/fuerte/lib/liboctovis.a /opt/ros/fuerte/lib/cmake /opt/ros/fuerte/lib/cmake/octovis /opt/ros/fuerte/lib/cmake/octovis/octovis-config.cmake /opt/ros/fuerte/lib/cmake/octovis/octovis-config-version.cmake /opt/ros/fuerte/lib/liboctovis.so

Is there any possible solutions?

I am trying to build 3d indoor map using rgbd slam package. I am using ros fuerte version. I am confused which package of octomap to be installed for mapping with rgbdslam package. In tutorial, the link is given only for electric version.

Any body have idea about it?

I am trying to implement any one of the visual slam menthods in the robot? Is there any successful visual slam packages in ROS? Or an other open sources for implementing visual slam?

Also, I have noticed one of the open source mrpt. And they have packages in ROS. But, I can not find any proper tutorials for that?

So, Do you know any open source for visual slam or any tutorials for mrpt_ros or mrpt?

Thanks for the reply in advance..

I am using ros-electric.

Already, I have many built packages. In between, I thought its better to have debugger with GUI. So, I have an idea of using eclipse. I followed the page: http://www.ros.org/wiki/IDEs. If I need to use eclipse for an already built project, Shall I built the same project in the same directory once again or how to do it for the already built project (the already built project is without using eclipse)?

thanks in advance for you answers.

Following, Felix's answer for this question(http://answers.ros.org/question/12995/2d-map-from-octomap/), I tried to generate a 2d map from octomap for localization.

As explained in that answer, I wrote a node to listen the output of the node 'rgbdslam'. This node uses the passthrough filter from pcl library to take a slice of the 3d point cloud. I used the same parameters in the launch file octomap_server.launch from rgbdslam package. I can view the required point clouds in pcd viewer, i.e) thin slice of the 3d octomap. While, I try to save it as a map using nodes octomap_server and saver, it shows only single point as a map.

While trying to find the problem, I note that the point cloud which is send as input to the octomap_server is an unorganized point cloud. I think this might be a problem.

If so, Is there any idea to convert unorganized point cloud to orgainized point cloud or any other solution for this problem?

Thanks in advance for your suggesstions.

UPDATED: While, running the normal rgbdslam algorithm as described in (http://www.ros.org/wiki/rgbdslam). After doing $roslaunch rgbdslam octomap_server.launch, I opened rviz and viewed the topic '/octomap_point_cloud_centers'. In rviz, I could view the complete point cloud whatever I see in the rgbdslam GUI. But, While try to view those point clouds after the 'new_node' (node which I wrote), I could able to view only the initial sliced part of the point cloud. I think this is due to the high frequency publishing of a topic 'rgbdslam/batch_clouds'.

Any solutions for this problem?

I use rgbdslam package for building a 3d map and it is successful. Now, I would like to combine the robot odometry with this algorithm for mapping. Is there any possiblity to do this?

If possible, how to do it?

Thanks in advance for the reply.

updated:

Now, I defined the transformation between frames 'odom' and 'openni_camera'. Also, the '/tf' has 'odom' as its initial frame and it is subscribed by package 'rgbdslam'. Even though, I have a doubt that whether 'rgbdslam' will consider it for mapping or not?

I wrote a node which listen to topic 'rgbdslam/batch_clouds' from 'rgbdslam' package and edit it to publish the required points clouds as topic 'new_batch_clouds'. Now, I need to use 'octomap' to save both point clouds as map. And both has common 'tf' from package 'rgbdslam'.

I tried to make the node 'octomap_server' to subscribe the topic 'new_batch_clouds'. From seeing the codes, I think a topic named 'cloud_in' is subscribed for point clouds. In normal procedure, I don't understand how 'rgbdslam/batch_clouds' would be subscribed by 'octomap_server'

So, now I need two maps. One from the topic 'rgbdslam/batch_clouds', that is done usually. Then, I need another map using 'new_batch_clouds' from the new node and 'tf' from rgbdslam package'. How to make it?

Thanks in advance, for the suggestions.

I would like to create a node(new_node) such that it should listen to a topic, process the topic further and should publish the edited topic in the same old name. But this should be written as a seperate node.

So, Is it possible to overwrite a rostopic ?

Note: When I run the new_node, only one topic should be published in the same name?

Thanks in advance for your suggestions.

In rgbdslam package, I wrote a '--.cpp' file and built a node from that file. I often used to edited the cpp file and rebuilt the package. But later on I changed the name of the node to be built and deleted the old node manually (from the bin folder). Building the package was successful. When I run new node, and check it using

$ rosnode list

It shows the name of old node which I deleted and cannot find the name of the new node in the list.

When I tried,

$ rosnode info (name of the new node)

It reports as unknown node.

Any suggestions how to solve this problem?

And thanks in advance for your suggestions

I would like to use the odometry data over rgbdslam package. I do not have any robots. So, Is there any possiblity to publish a fake odometry (for the known distance)?

Thanks in advance for the reply.

Hi,

I am using ros-diamondback with ubuntu version 10.10.

The package '3d_navigation' has dependency on stack 'pr2_mechanism'. While trying to built this stack, it needs 'urdf_interface' from stack 'robot_model'. There is no 'urdf_interface' available in that stack. Also, stack 'robot_model' is already built along with the installation of ros-diamondback without 'urdf_interface'.

Do anybody have any suggestions about this issue? Thanks in advance for the reply.

After solving this issue from the answer below and I tried to build the stack again. While doing so it results error in the file 'collisionmodel.cpp' from package 'octomap_collision_check'. The errors are:

" /home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp: In member function ‘void octomap::CollisionModel::setRoot(octomap::OctomapObject*)’:

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp:53: error: ‘class planning_environment::CollisionModels’ has no member named ‘setCollisionMap’

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp: In member function ‘void octomap::CollisionModel::updateVis()’:

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp:80: error: ‘class planning_environment::CollisionModels’ has no member named ‘addStaticObject’

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp:84: error: ‘class planning_models::KinematicState’ has no member named ‘getRootTransform’

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp:91: error: ‘class planning_environment::CollisionModels’ has no member named ‘isKinematicStateInCollision’

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp:99: error: ‘class planning_environment::CollisionModels’ has no member named ‘getAllCollisionPointMarkers’

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp:91: warning: unused variable ‘coll’

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp: In member function ‘void octomap::CollisionModel::publishMarkerVis(const octomap::OctomapObject&, unsigned int, ros::Publisher)’:

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp:119: error: ‘class planning_environment::CollisionModels’ has no member named ‘getWorldFrameId’

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp: In member function ‘void octomap::CollisionModel::publishPointcloudVis(const octomap::OctomapObject&, unsigned int, ros::Publisher)’:

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp:161: error: ‘class planning_environment::CollisionModels’ has no member named ‘getWorldFrameId’

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp: In member function ‘void octomap::CollisionModel::publishRobotStampedTransforms()’:

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp:170: error: ‘class planning_environment::CollisionModels’ has no member named ‘getSceneTransformMap’

/home/ros-diamondback/ros_workspace/3d_navigation/octomap_collision_check/src/collision_model.cpp:181: error: ‘class planning_environment::CollisionModels’ has no member named ‘getWorldFrameId’ "