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cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.
Apache License 2.0
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How to generate 3d map in real time #1716

Open miso037 opened 2 years ago

miso037 commented 2 years ago

Hello,

im looking for a way to generate 3d point cloud map in real time from cartographer. The cartographer is not publishing it. Would it be possible to compute it from topics: scan_matched_points2 tracked_pose ? Or is there any way of creating 3d map live ? Im working on real time application for outdoor UGV so running cartographer offline isnt an option.

I want to create 3d pointcloud map so i can build a traversability map from it for my UGV. The result i would use for general navigation in outdoor enviroment.

Thanks.

oskarmue commented 2 years ago

Hey,

did you find a solution for generating a 3d point cloud map live?