gridmap_to_pointcloud_ros

ROS package for converting gridmap to pointcloud

Environment

• Ubuntu 20.04
• ROS Noetic

Install and Build

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/gridmap_to_pointcloud_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic           # Install dependencies
catkin build gridmap_to_pointcloud_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended

Running the demo

roslaunch gridmap_to_pointcloud_ros test.launch

Node I/O

Nodes

gridmap_to_pointcloud

Published Topics

• /map_cloud (sensor_msgs/PointCloud2)
  • Pointcloud converted from gridmap

Parameters

• ~<name>/hz (int, default: 1 [Hz]):
  The rate of main loop