Read OctoMap file with Robotics System Toolbox

9 次查看（过去 30 天）

显示更早的评论

Sebastian 2018-8-16

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/415139-read-octomap-file-with-robotics-system-toolbox

评论： changcheng qiu 2018-9-29

采纳的回答： Sebastian Castro

Hello,

I am trying to read OctoMap files like the ones that can be found here: OctoMap datasets

I have the Robotics System Toolbox which comes with the OccupancyMap3D class, but the documentation only shows how to read an OctoMap ROS message. In general, it seems that everything related to occupancy maps is restricted to be used with ROS. Alternatively, I could create a ROS message and fill the data field with the content of the file, however I lack understanding of the OctoMap file format (resolution, additional rgb data, octree).

Does anybody know how to import an OctoMap from file into Matlab?

Thank you in advance

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

采纳的回答

Sebastian Castro 2018-8-17

1
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/415139-read-octomap-file-with-robotics-system-toolbox#answer_333084

编辑：Sebastian Castro 2018-9-11

在 MATLAB Online 中打开

I don't think there's a direct way to read unless you parse the file yourself. As you said, you can either create your own file reader in MATLAB...

... or you can use the octomap_server package to publish a ROS message directly from the file, assuming it's a .bt file, and then subscribe to it from MATLAB.

rosrun octomap_server filename.bt

This is explained here: https://answers.ros.org/question/12265/octomap_server/

If it's a one-time thing, I'd recommend saving the OccupancyMap3D object as a .mat file in MATLAB so you can easily reload it later. Else, if the map is dynamically changing, you may as well use ROS pub-sub.

- Sebastian

7 个评论
显示 5更早的评论隐藏 5更早的评论

changcheng qiu 2018-9-12

Thanks for your help.When I type mapMsg = receive(mapSub), matlab will get into the loop and there will be no result for a long time.The error is as follows

changcheng qiu 2018-9-29

I think I may know the reason of it.I was wrong at the beginning. The topic did not post a message when I rosrun octomap_server filename.what do you think about it?