search

wh200720041 / iscloam

Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020
Other
559 stars 131 forks source link

The topic /map published by node LaserMappingNode is a local map, how could I get the global map #25

Open ldjcrs opened 2 years ago

ldjcrs commented 2 years ago

Hi @wh200720041 ,Thanks a lot for your work! when I listened the topic /map in rviz, I just could viewed the local map message.

ldjcrs commented 2 years ago

I found the location where map topic published in LaserMappingNode.cpp. Is the topic map published here a local map? if(path_size %20 == 0){ iscloam_map = laserMapping.getMap(); sensor_msgs::PointCloud2 PointsMsg; pcl::toROSMsg(*iscloam_map, PointsMsg); PointsMsg.header.stamp = pointcloud_time; PointsMsg.header.frame_id = "map"; map_pub.publish(PointsMsg); }