Update Octomap in realtime using octomap_rviz_plugin #48
Description
Hi,
This is a question why my octomap_server is overlaying the several octomaps created.
My hunch is that I am missing the right frame_id or some tf from SLAM. The SLAM algorithm is LOAM which have two frames: camera ; camera_init. From this, I wrote the following launch file:
<launch> <node pkg="octomap_server" type="octomap_server_node" name="octomap_server"> <param name="resolution" value="0.05" /> <!-- fixed map frame (set to 'map' if SLAM or localization running!) --> <param name="frame_id" value="camera_init" /> <param name="base_frame_id" value="camera" /> <!-- maximum range to integrate (speedup!) --> <param name="sensor_model/max_range" value="130.0" /> <param name="latch" value="false" /> <param name="filter_speckles" value="true" /> <param name="pointcloud_min_z" value="-0.6" /> <param name="pointcloud_max_z" value="0.5" /> <param name="occupancy_min_z" value="-0.5" /> <param name="occupancy_max_z" value="2.5" /> <!-- data source to integrate (PointCloud2) --> <remap from="cloud_in" to="/velodyne_cloud_registered" /> </node> </launch>
What am I doing wrong?
Thanks,
Bruno