Hi, Has anyone used Octomap with turtlebot. I see there are no tutorials on the octomap. So i just wanted to know if someone successfully used it for their work and could give me some heads up on the same.
I would like to create a 3D occupancy grid map of the surroundings using the kinect on the turtlebot and navigate on the same.
Any suggestions and pointers are much appreciated!!!
Thanks, Karthik
Originally posted by karthik on ROS Answers with karma: 2831 on 2012-03-03
Post score: 2
Check out octomap_server and its documentation. That's what you need to build up 3D occupancy maps from any point cloud source. There is an example launch file in the package which you only need to modify. It should be straightforward if you have good odometry or a localization in a 2D map running along.
Originally posted by AHornung with karma: 5904 on 2012-03-05
This answer was ACCEPTED on the original site
Post score: 6
Comment by Ketan Katkar on 2014-06-03:
how is the odometry done in octomap? is it visual odometry ? how can we link another (good) odometry with octomap ?
This should work just fine; the Kinect generates point clouds, just as you'd expect.
Originally posted by Mac with karma: 4119 on 2012-03-04
This answer was NOT ACCEPTED on the original site
Post score: 1
Comment by karthik on 2012-03-04:
Mac, thanks for the response. Could you guide me through the same. A tutorial page would be too much to ask, but it would be of great help.
Comment by Mac on 2012-03-04:
Sure can't; dig around on octomap, I suppose.