How to get a more sparse /rtabmap/octomap_occupied_space

Posted by acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-get-a-more-sparse-rtabmap-octomap-occupied-space-tp6830.html

Dear people.

I have a question, I am lately using the topic  /rtabmap/octomap_occupied_space rom rtabmap_ros instead of /octomap_point_cloud_centers from the octomap_server. However, the resolution can be changed in the octomap_server according to the following:

  <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
      <(param) name="resolution" value="0.5" />
      <remap from="cloud_in" to="/zed/rtabmap/cloud_map" />
  </node>

So, when I plot the voxels in RVIZ I can see there is a separation of 0.5 between each other.

The question here how can I do something similar with  /rtabmap/octomap_occupied_space


Thank you for you attention and replay :)