ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
For reference, put it alongside rviz in a launcher like this:
<launch>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find gopher_meta)/rviz/view_navigation.rviz">
<remap from="initialpose" to="/initialpose"/>
</node>
<node name="voxel_grid_2_point_cloud" pkg="costmap_2d" type="costmap_2d_cloud">
<remap from="voxel_grid" to="/move_base/local_costmap/obstacle_layer/voxel_grid"/>
<remap from="voxel_marked_cloud" to="/move_base/local_costmap/obstacle_layer/marked_cloud"/>
<remap from="voxel_unknown_cloud" to="/move_base/local_costmap/obstacle_layer/unknown_cloud"/>
</node>
</launch>
Voxel clouds are of 'PointCloud' type (not PointCloud2).
2 | No.2 Revision |
For reference, put it alongside rviz in a launcher like this:
<launch>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find gopher_meta)/rviz/view_navigation.rviz">
gopher)/rviz/view_navigation.rviz">
<remap from="initialpose" to="/initialpose"/>
</node>
<node name="voxel_grid_2_point_cloud" pkg="costmap_2d" type="costmap_2d_cloud">
<remap from="voxel_grid" to="/move_base/local_costmap/obstacle_layer/voxel_grid"/>
<remap from="voxel_marked_cloud" to="/move_base/local_costmap/obstacle_layer/marked_cloud"/>
<remap from="voxel_unknown_cloud" to="/move_base/local_costmap/obstacle_layer/unknown_cloud"/>
</node>
</launch>
Voxel clouds are of 'PointCloud' type (not PointCloud2).