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OctoMap / octomap_mapping

ROS stack for mapping with OctoMap, contains octomap_server package
http://www.ros.org/wiki/octomap_mapping
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octomap_full message update? #110

Open zichunxx opened 1 year ago

zichunxx commented 1 year ago

Hi!

I'm new to octomap_mapping, so maybe my issue is dumb.

Hopefully I can get a response to my issue.

When I use octomap_mapping.launch to convert the point cloud to octomap, I found that the octomap won't change in real time like Pointcloud2 message, i.e., the octomap in the past is still visible and won't disappear.

I guess I might use octomap_tracking_client.launch, but now, I'm stilling working on it.

So, my questions are:

1) If my guess is correct?

2) Is it possible to get a reply about the simple instructions of the differences between the main four launch files.

Help would be greatly appreciated!

wxmerkt commented 1 year ago

Unless a different change is observed, the OctoMap will not be cleared by default - there is no decay of nodes in the current implementation

zichunxx commented 1 year ago

Thank you for your reply!

I'm pretty sure there is an obvious change of my dynamic environment.

I found a question that is very similar to my question. When the obstacle disappears from the view, the residual occupied cells still remain.

I have tried to call the service to reset the octomap with rosservice call /octomap_server/reset, but it seems useless and no response in the terminal.

My procedure is to first process the sensor_msgs::PointCloud2 message and publish it on a new topic (e.g. point1), and then remap cloud_in with point1 in the launch file.

But if I skip the process procedure, it all works.

Do you know where I went wrong?

My Ros distro is Noetic.

Thanks!

Inigovelasco commented 1 year ago

Hi!

Did you discover how to remove the residual data? Thank you in advanced :)