High Resolution Local Map (Delete Nodes in Full Map To Bound Map Size)

[generush]

Hello,

I am interested in creating a high-resolution local map, something like 5-10-15 meter bounding box. The reason is that maintaining the entire map during a mobile robot mission (100m-1km) results in very slow publishing rates due to ballooning map size.

I have implemented some code to delete nodes outside the specified bounding box (relative to the robot position) in OctoMap ROS server, but I am only beginning to think about how to best implement that for ufomap.

Thanks for any and all ideas!

[generush]

Hi @danielduberg

I have found that the update_part_of_map parameter provides me exactly what I want, publisher for a locally constrained map. However, when I view the topic /ufomap_mapping_server_node/map in RViz, it seems to show the entire map, which is undesirable because it consumes a lot of memory, induces a lot of latency (making the visualization somewhat useless) and causes RViz to crash after 10-20 minutes.

I imagine what is happening, is that RViz is accumulating the messages across time, and visualizing all of them.

It would be great if there was a parameter to control whether this accumulation happens or not. For some folks, it might be desirable to keep all the map updates visualized. For my application, I would like to only see the most recent map update.

Thanks!

[huangyoupingben]

hi, @erush91
Did you fix this problem.
Maybe, I encountered a problem similar to yours. I want to use ufomap to build a local 3D map centered on a robot, like 20-20-8 meter bounding box. Howewer, When the robot moves, the ufomap is stationary, not a Robot-centric 3D map. I have tried update_part_of_map parameter, it did not work.
Look forward to your reply.
Thanks!

[huangyoupingben]

hi,@erush91
I tried update_part_of_map parameter again,and changed some code, it worked.
But，still have a problem. Ufomap still needs to build a big map internally, and when the robot approaches the boundary of this big map, the local map may fail.

[generush]

I am not familiar with your issue. Is that image the map or the point cloud? If it's the map, I would try to increase your map resolution to something like 5cm - 10cm and see if your problem persists.