https://github.com/toshikinakamura0412/gridmap_to_pointcloud_ros

ROS package for converting gridmap to pointcloud
https://github.com/toshikinakamura0412/gridmap_to_pointcloud_ros

conversion cpp gridmap mit-license pcl pointcloud robotics ros ros-noetic

Last synced: 2 months ago
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ROS package for converting gridmap to pointcloud

• Host: GitHub
• URL: https://github.com/toshikinakamura0412/gridmap_to_pointcloud_ros
• Owner: ToshikiNakamura0412
• License: mit
• Created: 2024-06-20T09:14:26.000Z (7 months ago)
• Default Branch: master
• Last Pushed: 2024-06-29T13:59:58.000Z (7 months ago)
• Last Synced: 2024-06-29T15:00:37.392Z (7 months ago)
• Topics: conversion, cpp, gridmap, mit-license, pcl, pointcloud, robotics, ros, ros-noetic
• Language: C++
• Homepage:
• Size: 37.1 KB
• Stars: 2
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# gridmap_to_pointcloud_ros

![Build Status](https://github.com/ToshikiNakamura0412/gridmap_to_pointcloud_ros/workflows/build/badge.svg)

[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

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

![Node I/O](images/node_io.png)

## Nodes

### gridmap_to_pointcloud

#### Published Topics

- /map_cloud (`sensor_msgs/PointCloud2`)

  - Pointcloud converted from gridmap

#### Parameters

- ~\/hz (int, default: `1` [Hz]):


  The rate of main loop