How to downproject a 3D octomap into 2d occupancy grid map?

Hello , I want to generate a 2D occupancy grid map that i will use as input to the navigation stack, the 2D map should be extracted from a 3D octomap that i have generated using kinect sensor in ros noetic . Is it possible ? And how ? Thank youu

Asked by ahmed aziz on 2023-05-14 11:29:36 UTC

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Answers

You can try to use this package:

https://wiki.ros.org/octomap_server

Check Published Topic named projected_map (with ROS message nav_msgs/OccupancyGrid)

Downprojected 2D occupancy map from the 3D map. Be sure to remap this topic if you have another 2D map server running.

Asked by ljaniec on 2023-05-14 19:03:04 UTC