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unable to visulize PointCloud using octomap_mapping

asked 2019-12-17 02:00:00 -0600

zhefan
7 ●13 ●15 ●18

updated 2019-12-17 07:26:34 -0600

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 octomap_server to visualize the pointcloud data. Based on some instructions, I modified the octomap_mapping.launch: <remap from="cloud_in" to="pc"/> where "pc" is the pointcloud2 converted by laser_geometry.

But when I open rviz and use MarkerArray to visualize the occupied cell, it does show anything. I tried to look at the message in the /occupied_cells_vis_array, and It says no message warning.

Could anyone help me figure out what is going wrong? I am really new to ROS, thanks for patience.

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answered 2020-01-15 20:49:02 -0600

Namal Senarathne

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My guess is that you have a timestamp issue in your publishing of pointcloud2 message from the laser data. octomap_server integrates pointclouds to the OctoMap only if there's a valid transformation between the frame of the point cloud and the fixed frame specified for octmap_server. So I would double check the timestamps of the generated pointclouds to see if they match with the current ROS time.

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Asked: 2019-12-17 02:00:00 -0600

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