Re: Build octomap with rtabmap?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Build-octomap-with-rtabmap-tp68p2694.html

Hi,

To make demo_robot_mapping.launch creating an octomap, we should set Grid/FromDepth to true here, otherwise you will have warning messages like that:

[ WARN] [1487979378.049216509, 1368730029.272126723]: Node -1: Cannot update octomap with 2D occupancy grids. Do "$ rosrun rtabmap_ros rtabmap --params | grep Grid" to see all occupancy grid parameters.
[ WARN] [1487979378.049270915, 1368730029.272126723]: Node 1: Cannot update octomap with 2D occupancy grids. Do "$ rosrun rtabmap_ros rtabmap --params | grep Grid" to see all occupancy grid parameters.
[ WARN] [1487979378.049311562, 1368730029.272126723]: Node 3: Cannot update octomap with 2D occupancy grids. Do "$ rosrun rtabmap_ros rtabmap --params | grep Grid" to see all occupancy grid parameters.
...

$ roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true rtabmapviz:=false
$ rosbag play --clock demo_mapping.bag

For stereo 20 Hz tutorial, I updated the stereo_20Hz.launch to fix the TF issue and added option "ground_is_obstacle" so that octomap is also built with the ground:

$ roslaunch stereo_20Hz.launch ground_is_obstacle:=true

Note that these tests were done on Ubuntu 16.04/Kinetic.

cheers,
Mathieu