Using Octree in Gazebo 11

I discovered that there is a library in ROS for using octree based occupancy maps.

https://wiki.ros.org/octomap

Is it possible to use octrees directly in gazebo? I was not able to find any tutorials for octrees in Gazebo, and I would like to know if I am wasting my time if it is not possible at all.

Thx in advance

Asked by Zeckurbo on 2021-01-24 08:59:39 UTC

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Answers

Can you describe what you are trying to accomplish? In general, you can write a Gaze plugin that can be loaded at runtime. Your plugin can make use of other libraries such as octomap.

Asked by nkoenig on 2021-01-25 12:44:50 UTC

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I want to use a sensor, that outputs an octomap in gazebo without publishing to a ros node first. And I also wondered if it was possible to load an octree based object into the gazebo world, like a mesh.

Asked by Zeckurbo on 2021-01-26 11:34:41 UTC