Revision history [back]

You can use octomap_msgs/conversions.h just include this file and then you can use all the fuctions for example:

octomap_msgs::binaryMsgToMap(), to get the map from the octomap_binary, then you can iterate on the leafs of the tree as follows:

for (octomap::OcTree::leaf_iterator it = map->begin_leafs(); it != map->end_leafs(); ++it)

{ std::cout<< "Node center: " << it.getCoordinate();

std::cout<< " value: " << it->getValue()<< "\n"; }

check this slide could be helpfull

You can use octomap_msgs/conversions.h just include this file and then you can use all the fuctions for example:

octomap_msgs::binaryMsgToMap(), to get the map from the octomap_binary, then you can iterate on the leafs of the tree as follows:

for (octomap::OcTree::leaf_iterator it = map->begin_leafs(); it != map->end_leafs(); ++it) 
 
{
 std::cout<< "Node center: " << it.getCoordinate();it.getCoordinate();
  
 std::cout<< " value: " << it->getValue()<< "\n";
}}