The created ROS subscribers listen to the ROS topics publishing acquired sensor data, such as image (RGB, disparity map) and local point cloud data. The local point cloud data, which are received during the entire scanning period, are stored in the octomap server based on the relative poses between different scans.
The created ROS subscribers listen to the ROS topics publishing acquired sensor data, such as image (RGB, disparity map) and local point cloud data. The local point cloud data, which are received during the entire scanning period, are stored in the octomap server based on the relative poses between different scans.
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