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ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
1.31k stars 445 forks source link

Transform the fused map in to robot frame? #229

Open 2361098148 opened 1 year ago

2361098148 commented 1 year ago

HI, thanks for this masterpiece! When i utilised this library, I found that the output fused map is in the "map" frame. Instead, I want the output under the "robot" frame to complete the motion planning, so is there any official function to do the transformation?

2361098148 commented 1 year ago

I try to add codes to transform the output fused map with the robot pose, but i found when the move direction change, the transformed map wrong. So why? problem video