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ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
1.25k stars 436 forks source link

How to get elevation map with color? #184

Closed naoya-kumagai closed 2 years ago

maximilianwulf commented 2 years ago

Hey @naoya-kumagai, this RVIZ configuration generates an elevation map with color.

Screenshot from 2021-10-21 18-19-19

maximilianwulf commented 2 years ago

In my mail notifications there was a bit more information:

How would I get elevation map with color (color of the actual objects)?

Currently, the coloring is depending on the height of the cells. grid_map does not support specific coloring yet, but it would be a nice feature to add. In case you develop it by yourself, make sure to submit an MR.

pfankhauser commented 2 years ago

You can add a color layer as done in the following example: Screen Shot 2021-10-25 at 10 23 45

In RViz you'll have to pick that layer as Color Layer accordingly. This should maybe be documented a little better for reference.