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Hi I have 3d point collection defined at (x,y,z), I have published these points via sensor_msgs/pointcloud2 , now I am trying to map these messages with octomap, please I need the command list to install octomap on melodic and run it around my pointcloud2 message, at github I can not find the version for melodic Thank you


Originally posted by MjdKassem on ROS Answers with karma: 13 on 2020-09-21

Post score: 0

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Hello.

Next time try to do a search before ask, please!

here you have the package http://wiki.ros.org/octomap_server.

So

sudo apt-get install ros-melodic-octomap ros-melodic-octomap-server ros-melodic-octomap-mapping ros-melodic-octomap-ros ros-melodic-octomap-msgs

then just run:

roslaunch octomap_server octomap_mapping.launch

btw your pointcloud has to be named cloud_in, or do a remap to change it's name to /narrow_stereo/points_filtered2. so, in you launch file you should add:

<remap from="cloud_name" to="/narrow_stereo/points_filtered2" />

And you have to define the global frame as a parameter (check the wiki) by default is /map but maybe is not your case. You have to publish also a transform between this frame and the sensor data frame if you don't know how, here you have tutorial (http://wiki.ros.org/tf/Tutorials).

I think that's all! Hope it works


Originally posted by Solrac3589 with karma: 187 on 2020-09-22

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by hesham on 2021-12-06:
Thanks for answering the question and also for asking it! Its page http://wiki.ros.org/octomap_server isn't detailed enough like that.

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