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map_organizer package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

pointcloud_to_maps

pointcloud_to_maps node detects floors from given pointcloud and publishes layered OccupancyGrid.

Subscribed topics

  • ~/map_cloud (new: mapcloud) [sensor_msgs::PointCloud2]

Published topics

  • maps [map_organizer_msgs::OccupancyGridArray]
  • map? [nav_msgs::OccupancyGrid]

Services

Called services

Parameters

  • points_thresh_rate (double, default 0.5)

    Layers with larger numbers of points than (max * rate) are extracted as floors.

  • floor_area_thresh_rate (double, default 0.8)

    Layers with (max * rate) are extracted as floors.

  • robot_height (double, default 1.0)

    Points with (floor_height + floor_tolerance) to floor_height of height are assumed as walls.

  • floor_height (double, default 0.1)

    Points with +-floor_height of height are assumed as floors.

  • floor_tolerance (double, default 0.2)

    Points with floor_height to (floor_height + floor_tolerance) of height are ignored.

  • min_floor_area (double, default 100.0)

    Minimum floor area (m^2).

tie_maps

tie_maps node loads maps from files and ties into layered OccupancyGrid.

Subscribed topics

Published topics

  • maps [map_organizer_msgs::OccupancyGridArray]
  • map? [nav_msgs::OccupancyGrid]

Services

Called services

Parameters

  • "map_files" (string, default: std::string(""))
  • "frame_id" (string, default: std::string("map"))

save_maps

save_maps saves layered OccupancyGrid to map files.

Subscribed topics

  • ~/maps (new: maps) [map_organizer_msgs::OccupancyGridArray]

Published topics

Services

Called services

Parameters

select_map

select_map node publishes the desired layer from layered OccupancyGrid.

Subscribed topics

  • /maps (new: maps) [map_organizer_msgs::OccupancyGridArray]
  • ~/floor (new: floor) [std_msgs::Int32]

Published topics

  • /map (new: map) [nav_msgs::OccupancyGrid]
  • /tf

Services

Called services

Parameters

pose_transform

pose_transform transforms given pose into the desired tf-frame. This node is useful to convert rviz initialpose output to desired map frame.

Subscribed topics

  • ~/pose_in (new: pose_in) [geometry_msgs::PoseWithCovarianceStamped]
  • /tf

Published topics

  • ~/pose_out (new: pose_out) [geometry_msgs::PoseWithCovarianceStamped]

Services

Called services

Parameters

  • "to_frame" (string, default: std::string("map"))