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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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octreemap real-time #75

Open Jxpenggf opened 4 years ago

Jxpenggf commented 4 years ago

I was building an octree while using laser slam, and found that it takes longer and longer to build the octree as the map expands. Is there any good way to solve it?This time is as follows: Map publishing in OctomapServer took 0.020862 sec;"1";"/octomap_server";"1597992232.199627943";"/free_cells_vis_arrayMap publishing in OctomapServer took 0.036827 sec;"1";"/octomap_server";"1597992233.032756327";"/free_cells_vis_array Map publishing in OctomapServer took 0.063853 sec;"1";"/octomap_server";"1597992237.275289141";"/free_cells_vis_array Map publishing in OctomapServer took 0.181036 sec;"1";"/octomap_server";"1597992248.256273682";"/free_cells_vis_array Map publishing in OctomapServer took 3.695490 sec;"1";"/octomap_server";"1597992391.960885345";"/free_cells_vis_array ............ Map publishing in OctomapServer took 2.681625 sec;"1";"/octomap_server";"1597992454.992732211";"/free_cells_vis_array Map publishing in OctomapServer took 2.649209 sec;"1";"/octomap_server";"1597992461.193299952";"/free_cells_vis_array Map publishing in OctomapServer took 2.096347 sec;"1";"/octomap_server";"1597992464.053245663";"/free_cells_vis_array