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2017-07-07 12:00:58 -0600 commented answer Moveit with Octomap from SLAM package

It's a possibility yes, and it would be easier too. That being said, I did not really consider it because I don't really

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2017-07-06 02:39:13 -0600 edited answer Moveit octomap plugin not updating planning_scene

After a while of fiddling I now have it working! I still don't really know how the thing works behind the scene but it

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2017-07-06 02:37:00 -0600 marked best answer Moveit octomap plugin not updating planning_scene

Hello everyone,

I'm trying to write an OccupancyMapUpdater plugin that takes a full (or binary, I don't really care which one it is) octomap from an external topic and feed it to the planning scene.

Right now, I'm doing it by clearing the octree of the OccupancyMapMonitor and then feeding it the message's data:

 void ExternalOctomapUpdater::octoMsgCallback(const octomap_msgs::Octomap::ConstPtr& octo_msg)
{
  ROS_INFO("Received a new octomap message");
  if (monitor_->getMapFrame().empty())
    monitor_->setMapFrame(octo_msg->header.frame_id);

  tree_->lockWrite();
  tree_->clear();
  octomap_msgs::readTree<octomap::OcTree>( tree_.get(),*octo_msg);
  tree_->setResolution(octo_msg->resolution);
  tree_->unlockWrite();

  tree_->triggerUpdateCallback();
}

I basically copied the PointCloudOctomapUpdater code and replaced the references to point cloud with octomaps :)

The plugin compiles, is recognised by ROS and moveit does executes it. I've setup some debug lines (removed here for clarity). They tell me that the callback function is called and tree_ gets cleared and updated: the number of leaves changes with the size of the octomap.I've also made sure that the resolution is right.

But with all that, the planning scene remains empty. There is no error message, no crash, nothing, but the planning scene in rviz is blank and nothing gets published on the planning_scene topics.

I have probably forgotten to call some update function or something but I can't figure what and where.

Could someone point me in the right direction?

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2017-07-05 10:55:33 -0600 edited question Moveit with Octomap from SLAM package

Moveit with Octomap from SLAM package Hello everyone, I'm using the SLAM package rtabmap, this package is able to outpu

2017-07-05 06:28:34 -0600 commented answer Moveit with Octomap from SLAM package

Thanks, This seem the proper solution. I'll mark your answer when I finally manage to have it working :) edit: Yep, it

2017-07-05 06:27:58 -0600 marked best answer Moveit with Octomap from SLAM package

Hello everyone,

I'm using the SLAM package rtabmap, this package is able to output an octomap that's automatically updated on loop closures

I want to use moveit to navigate my drone in its environnement (that works) but I don't want moveit to compute another occupancy map since I already have rtabmap to do it and rtabmap's map is more accurate than anything moveit could do.

So here is my question:

How could I feed moveit with an external octomap (and disable the internal octomap computation)?

Thanks a lot.

I made it work! Here is the corresponding repo: https://github.com/Notou/Moveit-External-Octomap-Updater

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2017-07-05 06:27:20 -0600 answered a question Moveit octomap plugin not updating planning_scene

After a while of fiddling I now have it working! I still don't really know how the thing works behind the scene but it

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2017-07-04 05:45:04 -0600 asked a question Moveit octomap plugin not updating planning_scene

Moveit octomap plugin not updating planning_scene Hello everyone, I'm trying to write an OccupancyMapUpdater plugin tha

2017-07-04 05:24:12 -0600 commented answer Moveit with Octomap from SLAM package

Thanks, This seem the proper solution. I'll mark your answer when I finally manage to have it working :)

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2017-06-28 10:07:40 -0600 asked a question Moveit with Octomap from SLAM package

Moveit with Octomap from SLAM package Hello everyone, I'm using the SLAM package rtabmap, this package is able to outpu