Run multiple instances of Octomap Server in ROS

OctoMap / octomap_mapping

ROS stack for mapping with OctoMap, contains octomap_server package

http://www.ros.org/wiki/octomap_mapping

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Run multiple instances of Octomap Server in ROS #106

Closed boazMgm closed 7 months ago

boazMgm commented 2 years ago

Hi, is there an option to run multiple instances of Octomap server in ROS? for example, I want to build different occupancy grids with different sensors and compare between them. Thanks!

heheguoqushi commented 1 year ago

Hi,I have tried to roslaunch two octomap servers. In the second server, I change all the topic name to be different from the first. Then make sure two octomap maps have been transformed in one map tf. Finally，I can see them in the rviz.