What is the input data for Octomap algorthim?

asked 2019-06-19 17:38:01 -0600

MjdKassem
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updated 2019-06-20 05:40:08 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

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 related to Octomap? if i have 3d ultrasonic spare point cloud, can i mapping them with Octomap? can i use Octomap for localization?

what is the minimum hardware requirement needed for good Octomap implementation?

answered 2019-06-20 05:17:21 -0600

TharushiDeSilva

79 ●5 ●8 ●12

I might be able to answer some of the questions you have. Octomap accepts sensor_msgs/PointCloud2 message type as its input. (It might accept other point cloud types too). The Octomap research paper contains most of the things you need to know about its background.

I have tested Octomap in a raspberry-pi 3B, which has 1GB RAM, and a 4 x ARM Cortex processor. It can process an octomap in an acceptable speed, with a 4 cm resolution. But I strongly recommend a computer with higher hardware specifications if you need to build a coloured octomap, or if you need a higher resolution.

For localization, you can use ROS navigation stack, which can be aided by your Octomap.

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What do you mean by sensor_msgs/PointCloud2.? Is there any another type of that point? If I have real sensor like Lidar ...,does octomap deal with physical sensors directly? You can link me some tutorial because I am just a ROS, maybe it is early to ask like that quesion, but I have to prepare proposal about my future work So I have to imagine the wider idea about my research.. Thank you for your response