how to get a 2D map using octomap

Question

I am using ubuntu 11.10 and electric ROS.

I've already got 3D map using rgbdslam pkg and now I want to downproject the 3D map to 2D in order for localization. However I cannot find a tutorial on how to do this using octomap though I know it has such a function. Can someone give me any advice? Thanks !

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Originally posted by Chong on ROS Answers with karma: 76 on 2012-06-18

Post score: 1

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Original comments

Comment by Chithra on 2013-02-07:
Hello, I am currently facing the same problem! How did you solve it? Sorry about opening a closed thread. i am unable to get much info on this online. Thank you!

Answer 1

octomap_server publishes a 2D map on the topic /map.

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Originally posted by Dan Lazewatsky with karma: 9115 on 2012-06-18

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by Chong on 2012-06-18:
I am new in ROS, so I am confused at how to get this 2D map from the topic and use this map for later use. Can you give me some more specific instructions? Thanks a lot !

Comment by cagatay on 2012-06-18:
try this command
rosrun map_server map_saver -f map , this command will save the map in your current directory

Comment by Chong on 2012-06-18:
do I have to run some command before that?