Re: Build Octomap in using laserscan

Posted by Jacobmo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Build-Octomap-in-using-laserscan-tp4590p4599.html

Mathieu,

I tried to do what you suggested by setting subscribe_scan_cloud:=true, subscribe_scan:=false and Grid/FromDepth:=false,
while subscribed to scan_cloud:=mergedPointcloud. But nothing was being published to the mergedPointcloud so it did not work. do I need to do something else to make mergedPointcloud publish information?

The laser scan I am using is just a 2 dimensional scan: it only has 1 beam that scans 360 degrees.

The reason I am using OctoMap is because I want to build a 3D map first and then use that for 3D path planning with a multirotor UAV, not a ground robot. I believe voxels will be better to plan with than a pointcloud because it accounts for all of the volume in the space.