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1 | initial version |
I figured out that qbot1/camera/depth/points topic is successfully published through freenect.launch launcher, but the octomap_server is subscribing to /camera/depth/points topic. The OctomapServer.cpp source code looks for the absolute namespace and it does not read the qbot1 prefix. In the version that I am using, the code line 177 of OctomapServer.cpp is like this.
m_pointCloudSub = new message_filters::Subscriber<sensor_msgs::pointcloud2> (m_nh, "/camera/depth/points", 5);
Because of the "/" in front of the subscribed topic, it always looks for a topic that starts as /camera/depth/points.
2 | No.2 Revision |
I figured out that qbot1/camera/depth/points
topic is successfully published through freenect.launch
launcher, but the octomap_server
is subscribing to /camera/depth/points
topic. The OctomapServer.cpp OctomapServer.cpp
source code looks for the absolute namespace and it does not read the qbot1
prefix.
In the version that I am using, the code line 177 of OctomapServer.cpp OctomapServer.cpp
is like this.
m_pointCloudSub = new Because of the "/" /
in front of the subscribed topic, it always looks for a topic that starts as /camera/depth/points. /camera/depth/points
.
3 | No.3 Revision |
I figured out that qbot1/camera/depth/points
topic is successfully published through freenect.launch
launcher, but the octomap_server
is subscribing to /camera/depth/points
topic. The OctomapServer.cpp
source code looks for the absolute namespace and it does not read the qbot1
prefix.
In According to the version remapping that I am using, the code line 177 of OctomapServer.cpp
is changed like this.
m_pointCloudSub = new message_filters::Subscriber<sensor_msgs::PointCloud2> (m_nh, "/camera/depth/points", 5);
Because of the /
in front of the subscribed topic, it always looks for a topic that starts as /camera/depth/points
.
4 | No.4 Revision |
I figured out that qbot1/camera/depth/points
topic is successfully published through freenect.launch
launcher, but the octomap_server
is subscribing to /camera/depth/points
topic. The OctomapServer.cpp
source code looks for the absolute namespace and it does not read the qbot1
prefix.
According to the remapping that I am using, the code line 177 of OctomapServer.cpp
is changed like this.
m_pointCloudSub = new message_filters::Subscriber<sensor_msgs::PointCloud2> (m_nh, "/camera/depth/points", 5);
Because of the /
in front of the subscribed topic, it always looks for a topic that starts as /camera/depth/points
.
This should be correctly used as;
m_pointCloudSub = new message_filters::Subscriber<sensor_msgs::PointCloud2> (m_nh, "camera/depth/points", 5);