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Hi guys!

I'm having some trouble running rgbdslam (on turtlebot w/ kinect) to generate an octomap without using the GUI.

After start the robot and kinect (openni), my steps are

>     roslaunch rgbdslam octomap_server.launch
>     roslaunch rgbdslam headless.launch
>     rosservice call /rgbdslam/ros_ui_b pause false
     -- Then capture some frames moving the robot around my lab --
>     rosservice call /rgbdslam/ros_ui_b pause true
>     rosservice call /rgbdslam/ros_ui send_all

The problem is: After send all the points captured, i'm able to run: rosrun octomap_server octomap_saver file.bt but file.bt only contains the last frame captured.

I think that octomap_server is overwriting the data received, so in the end it only contains the last frame. I've tried to change the parameters a lot, but with no success.

Here are the pictures of octomap_server.launch and headless.launch.

Any suggestion ?

Thanks !

Originally posted by Thiagopj on ROS Answers with karma: 23 on 2014-12-18

Post score: 1


1 Answer 1


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Your launch-files seem right. I am not sure what the problem is. See my answer to this question.

Originally posted by Felix Endres with karma: 6468 on 2015-01-12

This answer was ACCEPTED on the original site

Post score: 0


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