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iKrishneel / octomap_server2

ROS2 stack for mapping with OctoMap, contains octomap_server package
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Could not connect octomap_server2 to MoveIt!2 #9

Closed NebuDa closed 2 years ago

NebuDa commented 2 years ago

This is not a bug, but I hope you will answer anyway @iKrishneel . I can't find a way to add the Octomap to the MoveIt Planning scene. Maybe this should also be added to the readme for beginners. I am using ROS2 Foxy and receive a Pointcloud over network. I can publish it to a topic and I can create with this octomap_server2 a beautiful map with RViz visualization over the occupied_cells_vis_array. But how to link the octomap (_full or _binary?) to the planning scene?

I hope you will answer. Thank you very much.

iKrishneel commented 2 years ago

Unfortunately I am not familiar with that part. Probably better to ask on the moveit forum/repo.

NebuDa commented 2 years ago

I close this issue, because I switched to the MoveIt internal Octomap service (Occupancy Map Pointcloud Updater). Feel free to reopen, if this is still interesting.