biomotion / map_tile_loader

map_tile_loader

Dependencies

• dynamic_reconfigure (included but not used yet)
• pcl_conversions
• pcl_ros
• sensor_msgs
• tf2_ros

Library

map_loader

• methods:
  • MapLoader
    • input: (optional) string path
  • loadConfig
    • input: string path
  • setSearchRadius
    • input: double rad
  • getSubmaps
    • input: pcl::PointXYZ center
    • output: pcl::PointCloudpcl::PointXYZ::Ptr& cloud_ptr

Nodes

• test_node

  • subscribe: N/A
  • publish: /map (sensor_msgs::PointCloud2)

• map_publisher

  • parameters: map_path (String)
  • subscribe: /query_pose (geometry_msgs::PoseStamped)
  • publish: /map (sensor_msgs::PointCloud2)