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[octomap_server] Update inner occupancy periodically #36

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[octomap_server] Update inner occupancy periodically #36

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1 change: 1 addition & 0 deletions octomap_server/include/octomap_server/OctomapServer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -124,6 +124,7 @@ class OctomapServer {
void publishBinaryOctoMap(const ros::Time& rostime = ros::Time::now()) const;
void publishFullOctoMap(const ros::Time& rostime = ros::Time::now()) const;
virtual void publishAll(const ros::Time& rostime = ros::Time::now());
void updateInnerOccupancy(const ros::TimerEvent& event);

/**
* @brief update occupancy map with a scan labeled as ground and nonground.
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11 changes: 11 additions & 0 deletions octomap_server/src/OctomapServer.cpp
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Expand Up @@ -185,6 +185,12 @@ OctomapServer::OctomapServer(ros::NodeHandle private_nh_)
dynamic_reconfigure::Server<OctomapServerConfig>::CallbackType f;
f = boost::bind(&OctomapServer::reconfigureCallback, this, _1, _2);
m_reconfigureServer.setCallback(f);

private_nh.createTimer(
ros::Duration(1),
&OctomapServer::updateInnerOccupancy,
this,
/*oneshot=*/false);
}

OctomapServer::~OctomapServer(){
Expand Down Expand Up @@ -477,6 +483,11 @@ void OctomapServer::insertScan(const tf::Point& sensorOriginTf, const PCLPointCl
}


void OctomapServer::updateInnerOccupancy(const ros::TimerEvent& event)
{
m_octree->updateInnerOccupancy();
}


void OctomapServer::publishAll(const ros::Time& rostime){
ros::WallTime startTime = ros::WallTime::now();
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3 changes: 2 additions & 1 deletion octomap_server/src/octomap_server_node.cpp
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Expand Up @@ -77,7 +77,8 @@ int main(int argc, char** argv){
}

try{
ros::spin();
ros::MultiThreadedSpinner spinner(4);
spinner.spin();
}catch(std::runtime_error& e){
ROS_ERROR("octomap_server exception: %s", e.what());
return -1;
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