rgbdslam and octomap

asked 2014-02-09 02:27:57 -0600

Wilk
67 ●6 ●8 ●12

updated 2016-10-24 09:01:28 -0600

ngrennan
1 ●1 ●1

Hello everyone, I am using ros fuerte on ubuntu 12.04 and have few questions:

Does anyone know how rgbdslam and octomap cooperates?
Is there any possibility to manipulate with map created by rgbdslam?
Is there a possibility to build octomap with octomap_server out of rgbdslam algorithm and visualise it?
Is there possibility to reduce the size of created map? for example to 1-2 meters around robot?

answered 2014-02-14 03:05:39 -0600

Felix Endres

6468 ●28 ●57 ●93 http://www.informatik....

updated 2014-02-14 03:06:52 -0600

Hi.

There are two possibilities: (a) Have rgbdslam send out the clouds+tf transformations and let the octomap_server listen or (b) Use the GUI of rgbdslam to save the map as an octomap (no need to run octomap_server)
No. You can manipulate the octomap using octovis - though this functionality is quite limited.
See 1.
You can (a) set the parameter 'maximum_depth" for rgbdslam (though this will also limit the use of faraway visual features during mapping) or (b) set the max_sensor_range parameter for the octomap_server (only affects map rendering)

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Comments

Do I need an experimental version of octomap- when I save the map with: rosrun octomap_server octomap_saver file.ot I see only a blue cube but if I save it with rgbdslam GUI I can see map. I am working with rosbag files (rgbd_dataset_freiburg2_pioneer_360.bag).

Wilk ( 2014-02-16 05:50:00 -0600 )edit

The blue cube means no data. So I guess that the data you send from rgbdslam does not arrive at the octomap server.

Felix Endres ( 2014-02-19 04:57:05 -0600 )edit

When i use the GUI to save the octomap it saves as .pcd file. Furthermore, when i try to visualize the point cloud i got an error: No points to read. Like you said, i guess the data sent from rgbdslam did not arrive to octomap server. Do you know how can i fix that ?

Thiagopj ( 2014-12-11 11:42:00 -0600 )edit

I do not have this problem. Can you just try to rename the file to .ot?

Felix Endres ( 2015-01-12 08:27:09 -0600 )edit

Yes, i tried! Using octovis to visualize, the file is empty

Thiagopj ( 2015-01-12 09:04:44 -0600 )edit

To clarify, I meant the file saved from the GUI. What is the file size? Any output on the terminal concerning the saving of the octomap?

Felix Endres ( 2015-01-14 04:07:50 -0600 )edit

Hey Felix!!! Can you expand more on point 1 and yaa I am also getting empty file through GUI. What to do