I have the same problem as described here: http://answers.ros.org/question/53228/rgbdslam-cannot-produce-octomap/. However, when I execute
rostopic echo /rgbdslam/batch_clouds, a long list of integers is outputted so I assume this is working. I don't understand why octomap viewer only contains an empty blue cube when I try to load the octomap I saved. How can I fix this?
Edit: I have attached a screenshot of the rxgraph:
By the way, I get this output when saving the octomap, but I don't see
/octomap_binary in the graph. Is that the issue?
rosrun octomap_server octomap_saver test2.bt [ INFO] [1369321237.790118097]: Requesting the map from /octomap_binary... [ INFO] [1369321237.809273887]: Map received, saving to test2.bt
Edit 2: I just found this topic: http://answers.ros.org/question/9965/how-to-get-octomap-to-store-data-sent-by-rgbdslam/. I downloaded Octomap using apt-get install; do I need another version?
Edit 3: This is the output I get from launching openni:
SUMMARY ======== PARAMETERS * /camera/depth/rectify_depth/interpolation * /camera/depth_registered/rectify_depth/interpolation * /camera/disparity_depth/max_range * /camera/disparity_depth/min_range * /camera/disparity_depth_registered/max_range * /camera/disparity_depth_registered/min_range * /camera/driver/depth_camera_info_url * /camera/driver/depth_frame_id * /camera/driver/depth_registration * /camera/driver/device_id * /camera/driver/rgb_camera_info_url * /camera/driver/rgb_frame_id * /rosdistro * /rosversion NODES /camera/depth/ metric (nodelet/nodelet) metric_rect (nodelet/nodelet) points (nodelet/nodelet) rectify_depth (nodelet/nodelet) /camera/rgb/ debayer (nodelet/nodelet) rectify_color (nodelet/nodelet) rectify_mono (nodelet/nodelet) / camera_base_link (tf/static_transform_publisher) camera_base_link1 (tf/static_transform_publisher) camera_base_link2 (tf/static_transform_publisher) camera_base_link3 (tf/static_transform_publisher) camera_nodelet_manager (nodelet/nodelet) /camera/ disparity_depth (nodelet/nodelet) disparity_depth_registered (nodelet/nodelet) driver (nodelet/nodelet) points_xyzrgb_depth_rgb (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) /camera/ir/ rectify_ir (nodelet/nodelet) /camera/depth_registered/ metric (nodelet/nodelet) metric_rect (nodelet/nodelet) rectify_depth (nodelet/nodelet) core service [/rosout] found process[camera_nodelet_manager-1]: started with pid  process[camera/driver-2]: started with pid  process[camera/rgb/debayer-3]: started with pid  [ INFO] [1369429911.881946647]: Initializing nodelet with 4 worker threads. process[camera/rgb/rectify_mono-4]: started with pid  process[camera/rgb/rectify_color-5]: started with pid  process[camera/ir/rectify_ir-6]: started with pid  process[camera/depth/rectify_depth-7]: started with pid  process[camera/depth/metric_rect-8]: started with pid  process[camera/depth/metric-9]: started with pid  process[camera/depth/points-10]: started with pid  process[camera/register_depth_rgb-11]: started with pid  process[camera/depth_registered/rectify_depth-12]: started with pid  process[camera/depth_registered/metric_rect-13]: started with pid  process[camera/depth_registered/metric-14]: started with pid  process[camera/points_xyzrgb_depth_rgb-15]: started with pid  process[camera/disparity_depth-16]: started with pid  process[camera/disparity_depth_registered-17]: started with pid  process[camera_base_link-18]: started with pid  process[camera_base_link1-19]: started with pid  process[camera_base_link2-20]: started with pid  process[camera_base_link3-21]: started with pid  [ERROR] [1369429921.870903205]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters] [ERROR] [1369429921.918984524]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters] [ERROR] [1369429921.962493901]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]
However, the GUI is listening to
/camera/rgb/image_rect_color and /camera/depth_registered/image_rect which I don't see.
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