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leggedrobotics / elevation_mapping_cupy

Elevation Mapping on GPU.
MIT License
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Full elevation map save #45

Closed Rohitra078 closed 1 year ago

Rohitra078 commented 1 year ago

Hello ,very nice package ,but i cant seem to save my previous mapped elevation to keep in rviz or record it , the map is only around robot , and is there a fuction which i can modify to keep all my previous map fused to save same as octomap

lorenwel commented 1 year ago

Hi Rohit, the elevation map only has a fixed size. If you want to map a larger space you will have to increase your map size, which will increase GPU memory usage. By default the map is also robo-centric, which means it will move with your robot. If you want to have your map stationary, you will have to change the base_frame parameter to some fixed frame.