write YAML for ROS map_server

cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Apache License 2.0

7.12k stars 2.25k forks source link

write YAML for ROS map_server #1834

Open kingsimba opened 3 years ago

kingsimba commented 3 years ago

I'm aware cartographer_pbstream_to_ros_map can convert pbstream to PGM and YAML which can be fed into ROS map_server

But the quality is obvious not as good as cartographer_assets_writer because it doesn't use all the laser scans(scan accumulation).

So, I modified ProbabilityGridPointsProcessor to generate the YAML file.

Related discussion also found on: https://github.com/cartographer-project/cartographer_ros/issues/475

bochen87 commented 2 years ago

Hi @kingsimba , thank you for your contribution. can you please sign your commits? The easiest way is to use git commit --amend --no-edit --signoff. See https://github.com/cartographer-project/cartographer/blob/master/CONTRIBUTING.md for details. Thanks!