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Questions tagged [octomap-mapping]

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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 ...
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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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How to use ROS nodes/packages from the internet?

I'm working on my first ROS project and now that i've built a working robot that does some simple things i'd like to start incorporating more open source tools into my robot. I'd like to know how to ...
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octomap decreasing probabilities when obstacle is not there anymore

Hi, I've started using octomap. Basically I've been working with octomap_server and it's octomap_mapping.launch file. I'm ...
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Can octomap be used on sparse pointclouds?

Hello, I am receiving a sparse point cloud from a monocular slam algorithm. My question is if octomap_mapping is suitable for obstacle detection if my input pointcloud is sparse and I do not use a ...
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Error with octomap and hector_indoor_slam

I am trying to run octomap_server along with hector_indoor_slam. But when I try to map, I get an error with octomap as follows, ...
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SLAM for octomap mapping

I am trying to build a 3D map with hector_quadrotor using octomap_mapping. Should I be running a SLAM in the background like the hector_slam to generate a octomap? Originally posted by boon on ROS ...
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Octree to Quadtree from Octomap

Hi there, I am using Octomapping in ROS to generate an occupancy grid but I want to use it for 2d Navigation so is there a possibility to convert the optimized Octree to a Quadtree ? Originally ...
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Problem building octomap_mapping

Hi all! i got these errors during catkin_make: ...
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Octomap dies with apparently no reasons

Hi guys, I cannot understand what is wrong with my pc. Octomap_server worked find and I had already a bit of experience with it. This morning I installed some packages like: ...
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1 answer
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Can I generate a 3d map using 2d lidar data?

I don't know how to approach this problem. I was thinking of using octomap but since there are no tutorials available I can't seem to pick a starting point. Are there any other packages that I can use?...
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2 answers
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Problem: Octomap is not working with Kinect Pointcloud

Hello Everyone, I am using kinect for creating pointcloud and passing /camera/depth/point from kinect freenect_camera to ...
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3 answers
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how to improve maps from octomap?

Hi , I am trying to build quality maps by using octomap on ROS hydro using a xtion pro live sensor mounted on the robot. The map generated by octomap do not update well, when visiting the same area ...
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Is there any SLAM method based on Octomap representation?

I know what I am saying here is not precise.I know Octomap is a 3D occupancy grid mapping approach based on an octree and there are some SLAM methods that works based on 2D occupancy grids. E.g. ...
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How can I have access to values in the octomap datasets

I want to have access to hitting points, colors and pose coordinate values in the octomap datasets (e.g. to use octomap datasets in MATLAB). The datasets I am talking about are available in this link ....
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octomap using pointcloud data without odomoetry

Hi I am trying to generate a 3D map of the environment using octomap. I have 3D scan dataset but I do not have tf. According to http://wiki.ros.org/octomap_server , sensor data frame → /map (static ...
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Implementing ColorOcTree in OctoMap using RGBDSLAM

I am implementing a ColorOcTree in OctoMap. Since the default in OctoMap is to build a heightmap, given by this piece of code in octomap_server/src/OctomapServer.cpp in OctomapServer::publishAll(const ...
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different result in binary and source of octomap_server

Hi all, i have a problem, may be someone knows about it, when i install binary octomap_server and run it the result map is excellent but when i use from source and compile it in catkin the result is ...
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change source of octomap

Hello, I want to customize the octomap_server with this scenario that just points with yellow color considered as occupied and all others considered as free, so what is the best way to do it ? my mean ...
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create 3D map with octomap

Hi all, I want to create a 3d map from environment with simulated kinect. i know that i should use from octomap, i want to get data of kinect and every where that yellow color is available, set ...
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ROS Answers SE migration: PCD to Octree

Hi, I have a registered point-cloud as PCD file. I want to convert it into octree representation. There are two ways I could go. The first one is by using PCL. The second method by using octomap. Is ...
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3 answers
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Simplest method of 3D mapping a room with kinect sensor

Hello everyone, I am new to the ROS community. I am a student at University of California, Santa Cruz and currrently working on a project which requires 3D mapping of the room. In short, my project is ...
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1 answer
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Static 3D Environment Map for localization and path planning

Hi, I am working on a robotics project that involves building a 3D static environment map. I am considering Octomap as a possible solution. The 3D map needs to be generated with some process and then ...
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Overlay octomap with devel branch (source) for ROS

I have been attempting to test the new OpenMP implementation for OctoMap (provided by Armin in this question: http://answers.ros.org/question/52127/octomap_server-performance-issues/ ) due to the ...
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1 answer
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Point cloud to Octomap? No map received

Hi, I am trying to build a map out of a point cloud but somehow I don't receive a map. The point cloud is build from a tilting laser scanner and I pass this point cloud to the octomap server. roswtf ...
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Issue with bounding box in octomap_server

When running the octomap_server it sometimes crashes during a map update. This is the error message that is returned: virtual void Map3D::handlePreNodeTraversal(const ros::Time&): Assertion `...
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Unorganized point clouds for octomap

Following, Felix's answer for this question(http://answers.ros.org/question/12995/2d-map-from-octomap/), I tried to generate a 2d map from octomap for localization. As explained in that answer, I ...
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subscribe point clouds to octomap

I wrote a node which listen to topic 'rgbdslam/batch_clouds' from 'rgbdslam' package and edit it to publish the required points clouds as topic 'new_batch_clouds'. Now, I need to use 'octomap' to save ...
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can not save map with octomap_server / octomap_saver from rgbdslam ROS Fuerte

Hi, I have seen on this ROS Answer topic that someone already had trouble saving maps from rgbd slam using octomap. I have exactly the same problem, I click on "Graph" -> Send Model (ctrl+...
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1 answer
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how to find or know the values for Z-axis in octomap?

I have an octomap and trying to do localization with it. I trying to make a slice from a 3d-map (octomap) to consider a single 2d plane for localization with amcl package. I uploaded the map in rviz ...
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Improve quality of octomap with params

Hi, I have built a octomap with ocotmap_server. It's a map with mobile objects so it's necessary to actualize frequently. Unfortunately some octomap points doesn't remove themselves. So I look for ...
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1 answer
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how does octomap realize the height of different place?

Hi Everyone, I'm using rgbdslam to generate a 3D map and send it to octomap for further processing. But now I found a problem I cannot solve: I'm generating the map of an office but according to ...
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1 answer
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How to do Localization and Navigation in 3D using octomap from RGBD-SLAM?

I am using ROS- electric. Now, I am able to built a octomap with the help of RGBDSLAM package. The map is in format '.bt'. Is there any packages available for doing localization and navigation in 3D ...
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Accessing 3D map data saved in bt file/formats to save octomap

I have been able to build a 3D map using octomap and have saved the same as a .bt file. I have to work on a localisation algorithm which requires the coordinates of free and occupied cells(especially ...
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1 answer
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3D mapping using Octomap with Turtlebot

Hi, (ROS - Electric; Ubuntu 11.04) This is in continuation to the question. I am trying to build a 3D occupancy map using the octomap_server with kinect sensor on top of the turtlebot. Following are ...
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1 answer
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How do you install octomap on Fuerte in linux?

Looking at the octomap instructions, it is not clear to me what I have to do to install the "pre-built packages" on linux -- sorry I don't use linux much so this maybe very clear to others. ...
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1 answer
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RGBDSLAM & Octomap for continuous realtime mapping

I am trying to use RGBDSLAM for 3D navigation, using its tf output for visual odometry and its point cloud for obstacle avoidance. However if this is run for an extended period of time, a huge amount ...
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1 answer
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Problem with feeding PointCloud2 messages from SwissRanger 4000 to Octomap Server

I am trying to get the PointCloud2 messages published by swissranger_camera node and feed it to octomap_server which subscribes to "cloud_in" (PointCloud2). I am available to visualize the ...
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2 answers
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Octomap with turtlebot

Hi, Has anyone used Octomap with turtlebot. I see there are no tutorials on the octomap. So i just wanted to know if someone successfully used it for their work and could give me some heads up on the ...
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Initializing and manipulating OctoMaps with more than just occupancy

Hi, Sorry if this is too much of a C++ question, but I'm having trouble understanding how to initialize and update an octree in which the nodes can store a data value. There is a nice example online ...
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octomap castRay returns a point in opposite direction

PointOutT origin; origin.x = -1; origin.y = 1.2; origin.z = -0.5; PointOutT d; // direction d.x = 0; d.y = 1; d.z = 0; tree.castRay(origin,d,end,true,-1) ...
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Failed to build octomap_server

Hello, I'm new both to ROS and to linux. I've tried to build 3d_navigation package as it is described in tutorial: 3d_navigation. After completing all the steps to check out the code from svn ...
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2 answers
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How to get octomap to store data sent by rgbdslam

Hi everyone. Felix Endres has a grest post on ROS Answers for how to get rgbdslam to send data to octomap and save it out as a map that can then potentially be used for navigation and path planning. ...
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1 answer
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Howto create semantic maps using ROS and Kinect?

I wish to create a robotic "Seeing Eye Dog" to assist the blind. It will perceive the world using a kinect sensor and will be based on turtlebot or bilibot or something similar. The bot will ...
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3 answers
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How to use RGBD-6D-SLAM for path planning and navigation with Kinect

I am able run and record data using the RGBD-6D-SLAM code and the Kinect and would like to now use the recorded 3D "map" of the room(s) for navigation and path planning. What would be the ...
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1 answer
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Is there an existing implementation to save an Octomap octree as a PCD file?

Hello, I am wondering if there is already a way to save an octree generated with Octomap as a pcd file? Raph Originally posted by raphael favier on ROS Answers with karma: 1382 on 2011-03-10 Post ...
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