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ethz-asl / panoptic_mapping

A flexible submap-based framework towards spatio-temporally consistent volumetric mapping and scene understanding.
BSD 3-Clause "New" or "Revised" License
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How to use panmap in navigation #75

Open XuechenCao opened 3 hours ago

XuechenCao commented 3 hours ago

how can i use the panmap file (rosservice call /panoptic_mapper/save_map "file_path: '/path/to/run1.panmap'" ) in the navigation, can i transport the panmap to costmap or some other type map file

Schmluk commented 3 hours ago

Hi @XuechenCao

There is a Planning Interface that wraps the submap collection and lets you access it as if it were a regular grid map, i.e. you can get the occupancy or distances for 3D points, which should be sufficient for planning.

Hope that helps, let us know how it goes!