write YAML for ROS map_server - #1834
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Signed-off-by: kingsimba <kingsimba0511@gmail.com>
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Hi @kingsimba , thank you for your contribution. can you please sign your commits? The easiest way is to use git commit --amend --no-edit --signoff. See https://github.com/cartographer-project/cartographer/blob/master/CONTRIBUTING.md for details. Thanks! |
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I'm aware
cartographer_pbstream_to_ros_mapcan convert pbstream to PGM and YAML which can be fed into ROS map_serverBut the quality is obvious not as good as
cartographer_assets_writerbecause it doesn't use all the laser scans(scan accumulation).So, I modified
ProbabilityGridPointsProcessorto generate the YAML file.Related discussion also found on: cartographer-project/cartographer_ros#475