I have two questions. First, in octomap_server,the published topics octomap_binary and octomap_full are the topics for navigation which likes like grid_map and proj_map.Yes or No. And why. Secondly, can 2-DOF robot(Turtlebot2) directly use the map above. I means it doesn't need downprojected 2D occupancy map from the 3D map. wiki.ros.org/octomap_server wiki.ros.org/rtabmap_ros
Originally posted by Nick Hoo on ROS Answers with karma: 27 on 2016-10-25
Post score: 1
Hi,
move_base uses a 2D occupancy grid map to plan trajectories. The octomap topics are 3D occupancy maps, which would be used by some other 3D planning approach (e.g., move_it). They are not the same as /grid_map or /proj_map from rtabmap_ros. You should use /map output topic of octomap_server with move_base. So for your second question, yes it needs the down projected 2D map.
cheers
Originally posted by matlabbe with karma: 6409 on 2016-10-25
This answer was ACCEPTED on the original site
Post score: 2
Comment by Nick Hoo on 2016-10-25:
Thank you very much.
Comment by dinesh on 2020-12-21:
Is this the standard way for robot navigation with 3d environment in ros till now? Or is their any other better method?
Comment by matlabbe on 2020-12-24:
As long as you can simplify navigation in 2D (even if the terrain is 3D), move_base seems the most ROS way to do that. For 3D trajectories (having to move in Z, e.g., quadcopter), then using OctoMap with OMPL/move_it can be another approach, though not sure if there is one most popular approach for the 3D case.