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OctoMap / octomap_mapping

ROS stack for mapping with OctoMap, contains octomap_server package
http://www.ros.org/wiki/octomap_mapping
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Octomap diff #11

Closed artivis closed 9 years ago

artivis commented 9 years ago

TrackingOctomapServer publishes centroid of changed nodes rather than their key.

It avoid publishing empty cloud - a parameter defining the minimum number of changed nodes to trigger the publish has been added

The frame_id of the published point cloud can be defined through a ros param

Server launch file has been updated according to above changes.

ahornung commented 9 years ago

Thanks for the PR! Would you mind sending it against the latest devel branch (indigo-devel) so I can integreate it more easily?