Open acpl00 opened 4 years ago
Hi! Sorry I am not familiar with the particular launch file, rtabmap, or how it uses the octomap package or which node thereof. You should be able to make a service call to reset the octomap which potentially would clear the point cloud?
Hi,
I have called the reset service call, and indeed in resets the cloud_map
, but it does not reset or clear the /octomap_point_cloud_centers
. And when there is a rtabmap_ros
loop closure the /octomap_point_cloud_centers
does not clear and the resulting map is a combination of the corrected map due to the loop closure and the not corrected one.
If you do not mind you can take a look at the post I have made in rtabmap forum:
Sorry I do not have the capacity or time to provide support to user questions. Based on checking the source code, publishAll
should be called so the point cloud should be published (publishPointCloud=true
) with an empty point cloud message. Did you check that there is nothing when you listen to the topic upon a reset?
I have tried the reset call service and the the /occupied_cells_vis_array
is reset, however the /octomap_point_cloud_centers
is not reset.
You may have to work with the source code and check that topics are published on reset (publishAll
) and what those messages contain (e.g. rostopic echo
)
Related to #85 - also due to the early return inside publishAll
in
https://github.com/OctoMap/octomap_mapping/blob/84633da1077335e86f41fe214085d90dc212fcd8/octomap_server/src/OctomapServer.cpp#L487-L490
However, not yet fixed by #92
Dear people
I have a launch file that contains the following two packages, among others:
rtabmap.launch
octomap_server with cloud_in = /rtabmap/cloud_map
I do have a problem, when I run the
rtabmap.launch
and I plot the/octomap_point_cloud_centers
inRVIZ
.The problem is that when the rtabmap finds a loop closure and corrects itself, the
/octomap_point_cloud_centers
topic do not clear.How can I solve this issue?
Any help is appreciated, thank you