Add Support for Voxel Map ROS2 Publishing Via Point Map Conversion #82
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Added code to timerPubMap to publish the occupied voxels of a mrpt::maps::CVoxelMap as a point cloud to ROS2, allowing for real-time ROS2 visualization of 2D map capture
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Thanks, it LGTM! Merging once CI passes (check the minor failing |
auto-merge was automatically disabled
April 21, 2025 16:02
Head branch was pushed to by a user without write access
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OK, formatting should be fixed now I think |
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This code adds the ability to publish point maps of occupied voxels in the ROS2 bridge, allowing for real-time visualization of 2D map generation. Since it only publishes occupied voxels, it is not overly computationally expensive.
It uses an existing MRPT function to get the points, so no custom, potentially slow point-wise code is involved.
An example RVIZ2 visualization of a map in the process of being created is shown here:
Closes #80