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The cob_3d_mapping_point_map package provides a configurable node for aggregating point maps from point cloud data. It mainly performs registration.

ROS API

point_map

The point_map node takes in sensor_msgs/PointCloud2 messages and aggregates a point map. If possible, point clouds should be registered in advance. The map can be cleared using a service call.

Subscribed Topics

/point_cloud2 (sensor_msgs/PointCloud2)

Published Topics

/point_cloud2_map (sensor_msgs/PointCloud2)

Services

clear_map (cob_srvs/Trigger) get_map (cob_3d_mapping_msgs/GetPointMap) set_map (cob_3d_mapping_msgs/SetPointMap)

Parameters

~voxel_leafsize_x (double, default: 0.03) ~map_frame_id (string, default: map) ~save (bool, default: false) ~file_path (string, default: /tmp)

Usage/Examples

Launch the point map node

roslaunch cob_3d_mapping_point_map aggregate_point_map.launch

Save map to a PCD file

rosrun cob_3d_mapping_point_map get_point_map map.pcd

Clear the map

rosservice call point_map/clear_map

Load an initial map from a PCD file (PointXYZRGB)

rosrun cob_3d_mapping_point_map set_point_map map.pcd


2019-11-09 12:34