octomap_saver [ROS]

[Chris Kalas]

Hi,

I'm trying to use octomap and can't seem to save the file. This is how I launch it:

<!-- Octomap -->

<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" args="octomap_saver -f test_sim.ot">

<param name="resolution" value="0.5" />

<!-- fixed map frame (set to 'map' if SLAM or localization running!) -->

<param name="frame_id" type="string" value="odom" />

<!-- maximum range to integrate (speedup!) -->

<param name="sensor_model/max_range" value="5.0" />

<!-- data source to integrate (PointCloud2) -->

<remap from="cloud_in" to="/cloud" />

</node>

I get this error:

process[octomap_server-2]: started with pid [7575]

[ERROR] [1421793857.726599592]: 

USAGE: octomap_server <map.[bt|ot]>

  map.bt: inital octomap 3D map file to read

I have both octomap_server and octovis installed.

Any help would be appreciated.

Chris

[Armin Hornung]

Hello Chris,

Am 20.01.2015 um 23:49 schrieb Chris Kalas:

Hi,

I'm trying to use octomap and can't seem to save the file. This is how I launch it:

<!-- Octomap -->

<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" args="octomap_saver -f test_sim.ot">

<param name="resolution" value="0.5" />

<!-- fixed map frame (set to 'map' if SLAM or localization running!) -->

<param name="frame_id" type="string" value="odom" />

<!-- maximum range to integrate (speedup!) -->

<param name="sensor_model/max_range" value="5.0" />

<!-- data source to integrate (PointCloud2) -->

<remap from="cloud_in" to="/cloud" />

</node>

I get this error:

process[octomap_server-2]: started with pid [7575]

[ERROR] [1421793857.726599592]: 

USAGE: octomap_server <map.[bt|ot]>

  map.bt: inital octomap 3D map file to read

You are trying to invoke octomap_saver as an argument to the octomap_server node. However, octomap_saver is a node of its own, so you only have to start it from a separate terminal while octomap_server is running. Check the documentation at http://wiki.ros.org/octomap_server#octomap_saver

Best regards,
Armin