my D435I depth camera mounted on arm_end_effector, how can i combined it with tesseract,to integrate octomap based on pointcloud topic in the planning server

[dbdxnuliba]

and my D435i rgbd camera mounted on arm_end_effector, has been calibrated ,so I can publish the pointcloud topic,so I want an integrated octomap based on pointcloud topic in the planning server where the octomap is added during motion planning request, andy related work is appreciated

https://github.com/tesseract-robotics/tesseract_ros/issues/172

[Levi-Armstrong]

This can be accomplished currently by doing the following.

1. Get either the point cloud or the octree.
2. Create tesseract_geometry::Octree type which can be constructed using either.
3. Create add link command, see this example.
4. Use the toMsg utility for converting the add link command to a message type and add this to your planning request message.