I am running Ubuntu 14.04 and ROS Indigo. I am currently using MoveIt! for generating an OctoMap from the robot sensors. How can I save that OctoMap? Or, alternatively, how can I access it in order to obtain occupancy information from specific points? I just know the type of the topic (moveit_msgs/PlanningScene), but I don't know how to work on the map.
I know that there is a similar question here in ROSanswers, I checked it, but that does not answer my question since the map is not generated via MoveIt!.
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