Re: Build Octomap in using laserscan

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Build-Octomap-in-using-laserscan-tp4590p4607.html

Hi,

yes, the "mergedPointcloud" is a message that you would need to provide with all point clouds (from lidar and camera) merged together.

For your application, it is possible to use a 2D occupancy grid configuration with the plannar lidar on your ground robot, then convert the resulting database to a 3D map with the databaseViewer and the saved images. That database could be then used with your drone. However, as the point of views of the map will differ between the ground robot and the drone, the drone may have difficulty to localize robustly in the map.

To convert the database to a 3D map:
1) Backup the database
2) Open database in rtabmap-databaseViewer
3) Open View->Core Parameters
4) Select the Grid parameters tab
5) Set Grid/FromDepth to true (assuming it was false with the ground robot and 2D lidar)
6) Do Edit->Regenerate local grid maps...

You now have a database containing the 3D map. OctoMap topics should be published.

cheers,
Mathieu