I have two questions.
First, in octomap_server,the published topics octomap_binary and octomap_full are the topics for navigation which likes like grid_map and proj_map.Yes or No. And why.
Secondly, can 2-DOF robot(Turtlebot2) directly use the map above. I means it doesn't need downprojected 2D occupancy map from the 3D map.
[wiki.ros.org/octomap_server](http://)
[wiki.ros.org/rtabmap_ros](http://)
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