torkx's profile - activity

That worked for me. Thanks. I just needed to get information from my created map to have the local costmap with the inflation layer.

Did you try rostopic list on a new terminal to check if the topic is actually being published?

Yeah, conceptually that should be it but I just took the same wording as found in the Octomap documentation. I'm still working on how to create or provide the /odom frame or map/ frame. If I manage to get it working I'll upload my findings.

I am simulating my robot with the kinect in a created world in Gazebo. I can visualize the point clouds and images from RGB and Depth cameras in RVIZ. I want to take those point clouds and create a map using octomap. In order to do it I have to do a tf from map frame to sensor frame. (Octomap Info, check slide 20). I don't know if I should create somehow a tf broadcaster for map frame or create a node that listens to the pointclouds topic and publish to ??? or how to do it. My tf tree starts from base_link and then goes to robot links and camera link.

I have been checking the tf tutorials but don't really understand how to do this. The next step is to call the octomap_server node through the following launch file.

<launch>

<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
    <param name="resolution" value="0.05" />

    <!-- fixed map frame (set to 'map' if SLAM or localization running!) default 'odom_combined'-->
    <param name="frame_id" type="string" value="odom_combined" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="5.0" />

    <!-- data source to integrate (PointCloud2) -->
    <remap from="cloud_in" to="/depth_cam/openni/depth/points" />

</node>

</launch>

many thanks.

I'm having that problem. What name did you use for the <framename> to solve it?