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Hello everyone,

I have a bag file which consists of "PointCloud2" with a corresponding "tf" messages. I am trying to build up an octomap using the inbuilt octomap_server in ROS.

Steps I followed:

1. Launched "roscore" in one terminal
2. Edited the file "/opt/ros/groovy/stacks/octomap_mapping/octomap_server/launch/octomap_mapping.launch" mapped the cloud_in to my PointCloud2 topic and changed the name of field to "base_link" as given in the header of the bag file.
3. Launched octomap node: "roslaunch octomap_server octomap_mapping.launch" in a new terminal
4. Played the bag file: "rosbag play <filename.bag>"

Now I am getting this error in the 3rd step-console.

Failed to find match for field 'x'. Failed to find match for field 'y'. Failed to find match for field 'z'.

1. Now I tried to check if the octomap_server is actually publishing anything back or not: "rostopic echo octomap_point_cloud_centers " (for PointCloud2: and I am getting the output here)

2. After this I tried to save the point cloud in form of a .ot file: "rosrun octomap_server octomap_saver <outputfile.ot>"

3. But now when I am trying to visualize this octomap using "octovis" : "octovis out.ot"

"I am not able to see a octomap out of it."

I further looked into this and found this issue : dev.pointclouds.org/issues/821

Thanks your response @AHornung, now I am using the octomap_server: I copied the "octomap_mapping.launch" file in my workspace and changed the "dataSource" How to proceed with this kind of arrangement so that I can listen to pointcloud2 ? ("rosrun octomap_server ...") ??

Thanks a lot ahendrix, exactly this was the issue. I checked in the documentaion of pcl 1.6, they are using the namespace pcl, for e.g. pcl::PolygonMesh , so using the namespace "pcl" worked. Here is the link : http://docs.pointclouds.org/1.6.0/search.php?query=polygonmesh

So, I also compared "pcl_msgs" directory of hydro and groovy. Hydro has "pcl_msgs-msg-paths.cmake" but groovy version doesn't.

Thanks for your response ahendrix, but it still doesn't compile. is there some specific change required in the package.xml and CMakelists.txt ? ( I have included build and runtime dependencies for "pcl_msgs" in package.xml and corresponding dependencies in CMakelists.txt as well )

Hello everyone,

I am receiving a pointCloud2 type messages by subscribing to a topic, in my code. Now I need to build an octomap from this. I am currently using Groovy and Octomap libraries for ROS Groovy.

I have gone through the documentation of octomap, but couldn't retrieve much from that. The function octomap::insertPointCloud() is somewhat close to my requirement.

Is there a way to create an octomap using this API for the callback being received ? And can I eventually write an octomap-file to the disk using some function ?

I have gone through few threads like this also but not able to get a concrete idea. http:// answers.ros.org/question/89906/how-to-generate-an-octomap-from-a-point-cloud-with-hydro/

I'd be grateful if someone can point me to an example code for the same or the order we need to follow to achieve this ?

Thanks.

Hello everyone,

I am working on Groovy and have all the libraries installed.

I have created a custom .msg file with following entries :

Header header

pcl_msgs/PolygonMesh mesh

sensor_msgs/PointCloud2 normals

I have included pcl_msgs in my package.xml and CMakelists.txt also.

But unfortunately on compilation I get following errors

-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- Could NOT find openni (missing:  OPENNI_INCLUDE_DIRS) 
** WARNING ** io features related to openni will be disabled
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- Could NOT find openni (missing:  OPENNI_INCLUDE_DIRS) 
** WARNING ** visualization features related to openni will be disabled
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_IO
-- looking for PCL_GEOMETRY
-- looking for PCL_FEATURES
-- looking for PCL_FILTERS
-- looking for PCL_KEYPOINTS
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_TRACKING
CMake Error at /opt/ros/groovy/share/genmsg/cmake/genmsg-extras.cmake:252 (message):
  Could not find 'share/pcl_msgs/cmake/pcl_msgs-msg-paths.cmake' (searched in
Call Stack (most recent call first):
  modsrc/CMakeLists.txt:31 (generate_messages)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

CMakelist:

cmake_minimum_required(VERSION 2.8.3)

project(mod_msgs)

find_package(catkin REQUIRED COMPONENTS nav_msgs roscpp rospy sensor_msgs std_msgs message_generation pcl pcl_ros pcl_msgs )

add_message_files( FILES TriangleMesh.msg )

generate_messages( DEPENDENCIES

nav_msgs

sensor_msgs

std_msgs

pcl

pcl_ros

pcl_msgs )

catkin_package(

CATKIN_DEPENDS nav_msgs roscpp rospy sensor_msgs std_msgs message_runtime pcl_msgs pcl pcl_ros )

include_directories(

${PCL_INCLUDE_DIRS}

${catkin_INCLUDE_DIRS} )

link_directories(${PCL_LIBRARY_DIRS})

add_definitions(${PCL_DEFINITIONS})

I have looked through pcl forums but not able to resolve this problem. Any kind of guidance would be much appreciated. Thanks

Hello everyone,

I have written some code for publisher and subscriber and I am currently using SVN for versioning. I committed the entire workspace, now when I took the checkout on other machine, I am not able to compile the source code. I get the source-directory not found error.

I know that obviously its not the same workspace but is there a workaround to update the relative path, so that the next time anyone takes any checkout, the source code compiles on their machine ?