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Questions tagged [octomap]

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Failing to map PointCloud2 topic to octomap_server cloud_in

I have an Ouster sensor which I am attempting to use to incrementally build an OctoMap of an indoor environment. PointCloud2 data is successfully published on the /ouster/points topic and can be ...
D.Batchelder's user avatar
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1 answer
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Octomap - Save map using nav2_map_server

I am trying to save the projected map of octomap as yaml to use it in the navigation stack. First I remapped /projected_map to /map in the launch file. I can see the map on rviz and here is the ...
Student's user avatar
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Problems using octomap to raycast a point in front of the robot

I'm trying to create a ROS2 service that returns a 3D point the robot is currently looking at. I'm struggling to get it to consistently work, I believe my issues are with the way I'm subscribing to ...
tmayoff's user avatar
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Which data structure/library to handle set of points within distance bounds from target?

I have a problem where I have to position a camera (mounted on a robot manipulator) at an optimal location from a 3D target defined as a (convex) polyhedron. The camera must maintain a minimum ...
Srijal's user avatar
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1 answer
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Octomap and Projected Octomap not lining up

I am trying to use a projected Octomap as an occupancy grid to pass onto the ROS navigation stack, but when I create one using the octomap_server package, it creates an occupancy grid which is rotated ...
Joshua L's user avatar
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2 answers
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Extract color from Octomap

is there any way to get the color of each voxel in an Octomap as it is being built in real-time? The package I am looking at, https://github.com/floatlazer/semantic_slam, is a semantic SLAM package ...
Joshua L's user avatar
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2 answers
144 views

octomap_msgs/conversions.h: No such file or directory

Using 64-bit Ubuntu 22.04.3 LTS On "colcon build" I'm recieving the following error: ...
Ajifoster3's user avatar
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Octomap messages in rosbridge_1 to 2

I am using Ros 2 but want to map the environment with Octomap. I use the rosbridge between Ros 2 (rolling) and Ros melodic. However, octomap_msgs/Octomap is not a ...
Lidia Gianne Souza da Rocha's user avatar
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1 answer
137 views

No map received in rviz

Iam trying to launch the amcl.launch file with MapServer node. and I have taken the map with octomap and want to visualize the map in 3d. so I have created a launch file for that. but i am getting ...
Uday Kumar's user avatar
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1 answer
567 views

octomap_ros on ros 2 humble

Hello, Both octomap and octomap_ros are available on ros 2 humble, as debian packages. But the documentation linked is for ros noetic. Making some google searches on the subject I understood that ...
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ROS2 OctoMap Transform cache was not updated. Self-filtering may fail

Hi, I have the following problem. I try to publish a pointcloud from a camera in gazebo onto my move_groups octomap configuration. The camera shows the correct image and I get a pointcloud on my /...
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what's the difference between point cloud and octomap. Where do we use Octomap instead of Pointcloud?

I am unable to understand the difference between these two so cant decide which approach to go with Originally posted by SEN TenZ on ROS Answers with karma: 1 on 2021-09-08 Post score: 0
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1 answer
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How to convert a mesh or shape into an Octomap?

I want to convert 3D meshes into Octomaps, to obtain the swept volume of a robot trajectory. The only conversion I found is binvox2bt, but this loads a mesh file directly into an octree, and does not ...
user avatar
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1 answer
10 views

PointCloud2 exists, but NO Octomap in /move_group/monitored_planning_scene!

I'm using ubuntu 16.04 on a Huawei Matebook-x, with kernel 4.15.0-91-generic. ROS distro: kinetic and version 1.12.14. Gazebo 7. My issue is exactly the same as this one from 5 years ago, but that ...
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1 answer
13 views

Octomap package not saving the map

Hello, I'm using octomap package in Kinetic distro in combination with the gmapping package in order to perform 2D SLAM and build a 2D map and also a 3D map with Octomap. Both are working fine, the 3D ...
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1 answer
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how to publish tf in gazebo simulation with depth camera for octomap_server

I am using gazebo simulation for drone. I mounted a depth camera on the drone in gazebo. It can publish its odom and pointcloud2 correctly. I would like to use octomap_mapping.launch to get the octree ...
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1 answer
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unable to update octomap correctly using insertPointcloud

Hi, I would like to use octomap for turtlebot path planning. My issue is: I want to update my map after my robot reaching the desired position. To do this, I use the octomap method insertPointCloud(...
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1 answer
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Pick a cup from a table

Hi there. I have been trying to pick up a cup from a table. if the cup is at the edge of the table it works pretty well. the thing is what I am doing is adding a "surface" under the detected ...
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1 answer
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unable to visulize PointCloud using octomap_mapping

I am using Turtlebot3 Burger in gazebo simulation. Since it does not have pointcloud2 data, I use laser_geometry package to convert the scan data into pointcloud2. I want to use the octomap_mapping in ...
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1 answer
13 views

Limit the size of the octomap coming from RTABMap?

Hello, Ideally we would like to limit the size of the octomap coming from RTABMap such that it stays within a certain size (or takes a certain amount of time to update). The parameter Rtabmap/TimeThr ...
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1 answer
51 views

Octomap_server + RealSense D435 + RealSense T265

Hello everyone, I would like to create simple octomap with use of both RealSense D435 and T265 cameras. I am using my own RealSense wrapper (do not ask why please, it is needed in this case). I can ...
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1 answer
15 views

Octomap / GPU Voxel / Franka / MoveIt / Collision Avoidance - Help

Hi folks, I want to implement a collision Avoidance for a Franka Robot using two Intel D435i 3D Cameras, Octomap and Moveit. First Problem: The Octomaps refresh very slowly, at least in rviz. I would ...
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1 answer
20 views

Setting octomap resolution doesn't work

I am working with ROS kinetic and implemented perception with octomap like described in http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/perception_pipeline/perception_pipeline_tutorial.html ....
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1 answer
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What is the input data for Octomap algorthim?

HI every body… i am new at ROS world i am trying to implement octomap, but first i have to learn more about it. Does any one tell me what is the input data should i feed to the Octomap ? how much SLAM ...
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1 answer
20 views

grid_map not working properly on Melodic - Ubuntu 18.04

Hello, I am following the tutorial on how to create and launch a grid_map. Because I am not familiar with this tool offered by ...
user avatar
0 votes
1 answer
21 views

Octomap not available in MoveIt

I want to represent my robots environment (available as a point cloud) as Octomap in MoveIt (ROS Kinetic) to make it available for collision checking. Therefore I mainly followed the Perception ...
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1 answer
6 views

OcTree is Null after dynamic_cast from AbstractOcTree

Hi! I am trying to read an Octomap published by /octomap_full as octomap_msgs::Octomap type. ...
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1 answer
17 views

Can't convert OcTree to Fcl

Hello everyone, I'm trying to create a code for 2D collision checking using fcl and octomap. Here i'm trying to convert the octomap::octree to fcl::octree so that i can use the function: "...
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1 answer
8 views

freenect /camera/depth/points topic not published under a group namespace tag

Hi! I am currently running Octomap on my Qbot using ROS kinetic and Ubuntu 16.04. (My plan is to run ROS navigation stack using the built octomap and create a multi-robot system) Because of the multi-...
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1 answer
17 views

Creating /tf (position) from IMU, 2D/3D SLAM (LiDAR+IMU+Octomap) (no need for high accuracy))

Hello, Iam trying to build a simple SLAM system consisted of: RPLiDAR A2 M8 Razor IMU 9DOF M0 used packages: octomap_mapping, razor_imu_9dof (razor-pub.launch) rplidar_ros (rplidar.launch) ...
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1 answer
58 views

moveit Failed to call service get_planning_scene

Hi all, I'm using Moveit to control a turtle arm on a turtlebot. I want to use the kinect on turtlebot for perception. I followed the perception tutorials to setup the yaml and launch files, but I can'...
user avatar
0 votes
1 answer
10 views

Moveit! self_filter from octomap working for robotiq gripper but not UR5/UR10 body

System: Ubuntu 16.04 / ROS Kinetic / Nuvo-5095GC-022 / Universal Robots UR10 Packages: freenect_stack, geometry2, libfreenect, perception_pcl, trac_ik, universal_robot, ur_modern_driver Hi, Some ...
user avatar
0 votes
1 answer
27 views

octomap_frame in Moveit

Hi, I am trying to map an area with a 3D Lidar and Husky. I hope to build an Octomap of the area and use Moveit to plan movements of the UR5 to prevent collisions. I am following the Husky UR5 Demo ...
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1 answer
31 views

How to disable moveit octomap

Hi all, When i launch move_group.launch as generated by the moveit setup assistant I get the error that no sensor plugin is specified for the octomap updater. How ...
user avatar
0 votes
1 answer
6 views

Rtabmap_ros does not show octo map but points clouds are good

Hi Im using two point Grey Chameleon3 mono camera set up as Master Salve and synchronized so can work as stereo camera. I have a installed ROS driver and able to publish the camera topics . Im using ...
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0 votes
1 answer
11 views

How can I access NodeHandle w/ Nodelets?

Hi, I have the following Nodelet onInit: ...
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0 votes
1 answer
6 views

How to receive Octree?

Hello, I am currently creating an Octomap through the Octomap Server. What I want to do next is to receive the octree for detecting obstacles while the octomap is being created. I've tried this: ...
user avatar
0 votes
1 answer
18 views

How use the octomap with a real map (Mapping reality) in Rviz

Hello, I am a beginner on ros, and I try to work on the turtlebot2, so, I succeeded to use the octomap to create a 3D map with Gazebo on Rviz, but now, I try to do the same thing but I want to mapping ...
user avatar
0 votes
1 answer
15 views

Point cloud stitching using ROS

Hi, I am utilizing a pair of manually calibrated stereo cameras (so, it's not a standard kinect) for obtaining pointclouds. Assuming I can obtain the (left) camera's post using an April Tag , I would ...
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0 votes
1 answer
17 views

Integrate free space into octomap

Hello, I am looking into how octomap integrates information from PointCloud2 into the Octree structure of octomap. Specifically for free space coming from a LIDAR. Let's take the velodyne_pointcloud ...
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1 answer
16 views

Not able to visualize Octomap in RViz

I am publishing an octomap from a .bt file with octomap_server such that: $ rosrun octomap_server octomap_server_node btFile.bt But when I try to visualize the ...
user avatar
0 votes
1 answer
30 views

Octomap Navigation? How to?

How to use octomap for navigation? After completing mapping process, i have a map in ".bt" or ".ot" format. Now i want to do amcl on it (say gmapping). But gmapping requires "...
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0 votes
1 answer
5 views

Is the .bt Octomap preserving the coordinates of the ROS environment it has been built from?

I think the title is self-explicative. I constructed an Octomap out of a robot moving in a simulated environment. In that environment, the coordinate (x1, y1, z1) with respect to the world frame was ...
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1 answer
10 views

rviz Visualization of Marker Array MD5 sum mismatch

I am trying to play a rosbag with a topic of type visualization_msgs/MarkerArray which represents an occupancy grid. When I replay the bag and try to visualize on rViz, I encounter the following error:...
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1 answer
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Visualization in changed occupancy threshold case

Hello, Default value of Occupancy Threshold is 0.5. In my code, I changed it to 0.2 by using setOccupancyThres(0.2). It works fine in Octree e.g. all nodes having probability greater 0.2 considered as ...
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1 answer
31 views

How to give Octomap data to the Planning Scene? (MoveIt!)

Hello, I'm relatively new to MoveIt and ROS. For the past week, I have been trying to configure the 3D sensor (a Kinect) on my robot model to work in MoveIt!, following the tutorial here. Additionally,...
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1 answer
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I am having errors while getting octomap from rgbdslam_v2 GUI and also where do I get the output of online octomapping?

As it is essential to get octomap for navigation and path planning but I am not able to do that I have followed the answer also but it isnt helping. https://answers.ros.org/question/9712/how-to-use-...
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1 answer
141 views

how to visualize 3d Map in RViz using Octomap?

hello I am learning octomap to create 3d maps . I cloned this link into my system and used these steps: rosbag play cloned link Edited launch file to change ...
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0 votes
1 answer
38 views

Octomap in moveit

I already can see octomap in rviz but the problem is the octomap is quite different from the real world kinect sees. I don't know why. Do I need to adjust any parameter for configuration file? ...
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2 answers
35 views

Error:cannot launch node [octomap_server/octomap_server_node]

Hello I am trying to convert my point cloud data into map using octomap. I am newbie in this, so i would like to know what I am doing wrong. To create map these are steps I followed: ...
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