About Octomap real time viewer

[RuPingCen]

Does Octomap exist for real-time display of the function interface ? if not ,is there any other way here to achieve this ?

[gapaluec]

I too need this feature.

[ahornung]

Depending on your definition of "real-time" you can use OctoMap to build maps in real-time. The internal viewer OctoVis does not support some live-display, but you can use the Qt module used internally to build your own visualization.

If you run ROS, you can easily display OctoMaps "live" in RViz using the octomap_rviz_plugins package.

[RuPingCen]

@ahornung thank you for your answers. I am not clear your means. Could you give me some advise how to add the plug to rviz in ROS and which topic should I listen by this way?

[RuPingCen]

@gapaluec I have successfully achieved this function, and I have creat a blog to introduce how to achieved this function. You can find in this website http://blog.csdn.net/crp997576280/article/details/74605766
If you have any trouble with Chinese you can send an email to me.

[ThadeuVBrito]

Hello @RuPingCen , I'm trying to develop a system with a UR5 to avoid obstacles, I think octomap can help me. However I could not make octomap work in my work. Could you share your codes? I accessed the blog, but it did not work anyway.

[RuPingCen]

@ThadeuVBrito Sorry, I'm not clear about your problem. I have put the code into the blog, that code aims to load a point cloud file into memory and publish the data to a topic frequently. If you want to fix the code, you need to launch octomap service and config the subscriber topic name of octomap-service. Finally to subscribe the topic published by octomap-service in rviz plugins.
If you have trouble in making source code. you need to follow the steps in https://github.com/OctoMap/octomap

[ThadeuVBrito]

Thank you for the explanation! I already managed to run octomap_server, your blog codes worked as a guide. Would you know to answer me why the moveit does not recognize as an obstacle?(in my work)