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RobustFieldAutonomyLab / la3dm

Learning-aided 3D mapping
MIT License
124 stars 48 forks source link

get the mapping using rosbag #5

Open tqlblzj opened 1 year ago

tqlblzj commented 1 year ago

Hi, how can I get the mapping result using the bag in the data file, so I can get the result as it shows in the video

keevindoherty commented 1 year ago

Thanks for the interest in this project. For running from a bag file, I recommend taking a look at the launch file la3dm_server.launch and the corresponding server nodes (e.g. bgkoctomap_server.cpp). The launch file takes a method (gpoctomap, bgkoctomap, bgkloctomap, or bgklvoctomap, for example), along with any relevant configuration data for the method and runs the corresponding server node.

I'll also cc @erikkpearson who has used and updated this codebase more recently than I have.