cuda's profile - activity

Hello I am facing the same issues. How do you remap the topic to sensor data? Also, how to provide a TF transform between the sensor data and the static map frame? I'm new to this please help!

@Airuno2L I have given the details of steps followed. Can you help me solve the issue?

Thank you gvdhoorn. I closed the topic Unable to view 3D map on rviz. Could you help me with the solution? I'm still looking for any kind of help.

Thanks for replying Airuno2L.

I am trying to build ROS and octomap on ubuntu 14.04 using kinect camera. I am not using any robot as of now, instead manually trying to move the camera . These are the steps I follow:

1. I run roscore
2. I launch roslaunch openni_launch openni.launch
3. I launch roslaunch octomap_server octomap_mapping.launch

I have made a few changes to these files after referring the previous issues faced by people and I dont know if its correct.

This is my octomap_mapping.launch file

<launch> <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">

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

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

    <!-- data source to integrate (PointCloud2)
    <remap from="cloud_in" to="/narrow_stereo/points_filtered2" /> -->
    <remap from="cloud_in" to="/narrow_stereo/points_filtered2" />

</node>

</launch>

This is my octomap_mapping_nodelet.launch file

<launch> <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>

<node pkg="nodelet" type="nodelet" name="octomap_server_nodelet" args="load octomap_server/OctomapServerNodelet standalone_nodelet">

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

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

    <!-- data source to integrate (PointCloud2) -->
    <remap from="octomap_server_nodelet/cloud_in" to="cloud_in" />

  <!-- output collision map -->
  <remap from="octomap_server_nodelet/collision_map_out" to="collision_map_out"/>

</node>

</launch>

1. I run rosrun rviz rviz

2. I add MarkerArray topic and change the topic to occupied_cells_vis_array(I also tried changing it to occupied_cells_vis but didn't work)

3. I get a fixed frame error: no tf data found. So, I run "rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map my_frame 100" and the error is resolved but still I don't see any maps.

4. I add PointCloud2 topic

I still can't visualize any map. Please please help!

I am trying to build ROS and octomap on ubuntu 14.04. These are the steps I follow:

1. I run roscore
2. I launch roslaunch openni_launch openni.launch
3. I launch roslaunch octomap_server octomap_mapping.launch

I have made a few changes to these files after referring the previous issues faced by people and I dont know if its correct.

This is my octomap_mapping.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!)
        <param name="frame_id" type="string" value="odom_combined" /> -->
        <param name="frame_id" type="string" value="map" />

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

        <!-- data source to integrate (PointCloud2)
        <remap from="cloud_in" to="/narrow_stereo/points_filtered2" /> -->
        <remap from="cloud_in" to="/narrow_stereo/points_filtered2" />

    </node>
</launch>

This is my octomap_mapping_nodelet.launch file

<launch>
  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager"/>

  <node pkg="nodelet" type="nodelet" name="octomap_server_nodelet" args="load octomap_server/OctomapServerNodelet standalone_nodelet">
        <param name="resolution" value="0.05" />

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

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

        <!-- data source to integrate (PointCloud2) -->
        <remap from="octomap_server_nodelet/cloud_in" to="cloud_in" />

      <!-- output collision map -->
      <remap from="octomap_server_nodelet/collision_map_out" to="collision_map_out"/>

    </node>
</launch>

1. I run rosrun rviz rviz

2. I add MarkerArray topic and change the topic to occupied_cells_vis_array (I also tried changing it to occupied_cells_vis but didn't work)

3. I get a fixed frame error: no tf data found. So, I run rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map my_frame 100 and the error is resolved but still I don't see any maps.

4. I add PointCloud2 topic

I still can't visualize any map. Please please help!

I installed octomap using the source code and run the samples, which worked fine. But since I wanted on the fly 3D generation using kinect I installed ROS, open NI and rviz. I could capture point cloud data on rviz, converted it to .bt using octomap_tutor, which I further gave as input to octovis to generate 3D maps. But this is done manually and I want continuous 3D mapping i.e. on the fly 3D map generation. I found something on the forum that suggested using rviz pluggins for octomap, which I installed but I guess I'm missing the right way configure it. I also tried rviz by installing octomap_mapping and octomap_server but was unsuccessful. So please can anyone help me with the best method for on the fly 3D mapping using kinect camera?