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OctoMap / octomap_rviz_plugins

RViz display plugins for visualizing octomap messages in ROS
http://ros.org/wiki/octomap_rviz_plugins
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Free-space nodes cannot be rendered #27

Closed MatthiasNieuwenhuisen closed 6 years ago

MatthiasNieuwenhuisen commented 6 years ago

Selecting "Free Voxels" as "Voxel Rendering" type in RViz cannot work, because voxel drawing is terminated early for non-occupied voxels:

https://github.com/OctoMap/octomap_rviz_plugins/blob/0a80d0c6ac513836ba543346ba3776b708a0ecc5/src/occupancy_grid_display.cpp#L517

The actual if that selects whether free-space or occupied voxels are rendered is some lines later in the same if:

https://github.com/OctoMap/octomap_rviz_plugins/blob/0a80d0c6ac513836ba543346ba3776b708a0ecc5/src/occupancy_grid_display.cpp#L526

ahornung commented 6 years ago

Good catch! So the outer check can be completely removed? Would you mind submitting a PR?

MatthiasNieuwenhuisen commented 6 years ago

PR #30 solves this issue.