octomap_server.launch

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<?xml version="1.0"?>
<launch>
  <arg name="use_hw_kinect" default="false"/>
  <arg name="octomap_file" default=""/>
  <arg name="resolution" default="0.04"/>


  <arg unless="$(arg use_hw_kinect)"  name="POINTCLOUD_TOPIC" value="/head_kinect/depth/points"/>
  <arg     if="$(arg use_hw_kinect)"  name="POINTCLOUD_TOPIC" value="/head_kinect/depth_registered/points"/>

  <node pkg="pointcloud_utils" type="pc_filter" name="pc_filter" output="screen">
    <param name="tolerance" value="0.1" />
    <param name="horizontal_fov" value="1.047" />

    <remap from="cloud_in" to="$(arg POINTCLOUD_TOPIC)"/>
    <remap from="cloud_out" to="/pc_filter/points"/>
    <remap from="cloud_ex_out" to="/pc_filter/points_ex"/>
  </node>

  <node name="om_server" pkg="octomap_server" type="octomap_server_node" output="screen" args="$(arg octomap_file)">
    <param name="resolution" value="$(arg resolution)" />
    <param name="frame_id" type="string" value="world" />
    <param name="sensor_model/max_range" value="2.2" />
    <param name="publish_free_space" value="true" />
    <remap from="octomap_full" to="/om_server/octomap_full"/>
    <remap from="octomap_binary" to="/om_server/octomap_binary"/>
    <remap from="cloud_in" to="/pc_filter/points"/>
  </node>
  <node pkg="pointcloud_utils" type="octomap_filter" name="octomap_filter" output="screen">
    <param name="resolution" value="0.08" />
    <param name="xmin" value="-1.3" />
    <param name="xmax" value="1.3" />
    <param name="ymin" value="-1.3" />
    <param name="ymax" value="1.3" />
    <param name="zmin" value="0.0" />
    <param name="zmax" value="2.0" />
    <param name="visualize_unknown" value="true" />
    <param name="visualize_merged" value="true" />
    <remap from="octomap_full" to="/om_server/octomap_full"/>
    <remap from="octomap_merged_binary" to="/octomap_binary"/>
  </node>

</launch>