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MaverickPeter / MR_SLAM

[IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated into the system.
MIT License
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some question about “merged_elevation_map” #19

Closed Joosoo1 closed 9 months ago

Joosoo1 commented 9 months ago

Hi, is it necessary to enable the elevation_mapping module for the construction of erged_elevation_map in global_manager, I noticed that elevation_mapping transmits a submap to global_manager as well, is it possible to just Is it possible to transmit only the front-end LIO submap to build erged_elevation_map to generate the global costmap?

MaverickPeter commented 9 months ago

@Joosoo1 It's not necessary to enable the elevation_mapping module to build a costmap. With some simplification, you can also generate a global costmap using the 3D point cloud merged from submaps provided by LIO. Specifically, you need to write a plugin in costmap dir for this. Note that the elevation mapping package provides a more accurate analysis of the terrain.

Joosoo1 commented 9 months ago

Thanks for the prompt reply, I understand