This node listens for a pointcloud selection (eg. published using the selected points publisher plugin in rviz), subsamples these points and then solves a travelling salesman problem to produce a path moving through these. This path can be used by the contour_following node for contour following.
sample_density- resample the points on the selected surface at this density.sat_solver_scale- scaling parameter for the ortools sat solver.sat_solver_timeout- maximum time for ortools travelling salesman problem to run for.min_points- minimum number of points required in selection.
/rviz_selected_points-sensor_msgs/PointCloud2input message (typically from selected patch publisher)/contour_path-nav_msgs/Pathmessage published by node