Possible integration of cartographer 3D (online) mapping and OctoMap (offline)

[Renxidev]

Is your feature request related to a problem? Please describe. Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D. https://github.com/cartographer-project/cartographer https://google-cartographer-ros.readthedocs.io/en/latest/

OctoMap is a offline 3D representation for 3D environment https://github.com/OctoMap/octomap http://wiki.ros.org/octomap

Integration of Cartographer and OctoMap can help us to reuse the historical information of the environment and speed up the SLAM process

Describe the solution you'd like Save the historical (offline) map in the OctoMap_server hosted in the Cloud Integrating the 3D map generated online by cartographer with the pre-existing offline map Plan based on both online and offline map

Describe alternatives you've considered A clear and concise description of any alternative solutions or features you've considered. Use online map from cartographer only

Additional context Add any other context or screenshots about the feature request here. https://www.youtube.com/watch?v=7iM2ynZEuf0 https://www.youtube.com/watch?v=34n1tF5OtQU

[adrianLIrobotics]

• [ ] New personal to work in this task (BEDS)
• [ ] Tool research for comparing maps (BUT, ROB)
• [ ] Coordinating the relevant discussions and resources (BEDS)

[adrianLIrobotics]

How are we doing with this one? Maybe we should assign a person responsable for keeping track of this new feature as we are doing with the dashboard and the 5g integration