no matching function for call to ‘rtabmap::OctoMap::createCloud(int&, boost::shared_ptr<std::vector >::element_type*, boost::shared_ptr<std::vector >::element_type*, boost::shared_ptr<std::vector >::element_type*, bool, boost::shared_ptr<std::vector >::element_type*)’
pcl::PointCloudpcl::PointXYZRGB::Ptr cloud = octomap_->createCloud(octomapTreeDepth_, obstacleIndices.get(), emptyIndices.get(), groundIndices.get(), true, frontierIndices.get());
原因:rtabmap与rtabmap_ro版本冲突