publish only current cloud as octomap

Question

Hi there, I want to do some comparisons between a global octomap and a local one, in order to detect new obstacles in the scene. For this, my proposed solution is to publish a stored octomap as global map and then with the input cloud from the sensor, obtain the local octomap and compare both of them. For this, I am launching two octomap_servers

My problem is that octomap_server keeps building an incremental map, and after a few scans the octomap will be too large to be traversed at high frequency. In this post (which is not very related actually) http://answers.ros.org/question/118871/create-an-occupancy-grid-map-from-octomap/ they suggest just to copy, paste and adapt code, but I wonder if there is a way to get ONLY the octomap from the last point cloud from the sensor.

Thank you!

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Originally posted by Javier V. Gómez on ROS Answers with karma: 1305 on 2015-05-19

Post score: 2

Answer 1

For the local octomap you could try to use the reset service (http://wiki.ros.org/octomap_server#Services) before inserting a new point cloud. This way you would have the desired behavior without any modifications to the code. Not sure if this runs fast enough though...

Cheers

Tim

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Originally posted by timster with karma: 396 on 2015-05-19

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by Javier V. Gómez on 2015-05-19:
You mean to reset after every message is received?

Comment by timster on 2015-05-19:
Yes before or after receiving a new message

Comment by Javier V. Gómez on 2015-05-19:
Ok I was able to do it and it more or less does what I want. I am not accepting the answer yet to see if somebody else have a better alternative. But thank you!