map_organizer package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

pointcloud_to_maps

pointcloud_to_maps node detects floors from given pointcloud and publishes layered OccupancyGrid.

Subscribed topics

• ~/map_cloud (new: mapcloud) [sensor_msgs::PointCloud2]

Published topics

• maps [map_organizer_msgs::OccupancyGridArray]
• map? [nav_msgs::OccupancyGrid]

Services

Called services

Parameters

• points_thresh_rate (double, default 0.5)

  Layers with larger numbers of points than (max * rate) are extracted as floors.

• floor_area_thresh_rate (double, default 0.8)

  Layers with (max * rate) are extracted as floors.

• robot_height (double, default 1.0)

  Points with (floor_height + floor_tolerance) to floor_height of height are assumed as walls.

• floor_height (double, default 0.1)

  Points with +-floor_height of height are assumed as floors.

• floor_tolerance (double, default 0.2)

  Points with floor_height to (floor_height + floor_tolerance) of height are ignored.

• min_floor_area (double, default 100.0)

  Minimum floor area (m^2).

---

tie_maps

tie_maps node loads maps from files and ties into layered OccupancyGrid.

Subscribed topics

Published topics

• maps [map_organizer_msgs::OccupancyGridArray]
• map? [nav_msgs::OccupancyGrid]

Services

Called services

Parameters

• “map_files” (string, default: std::string(“”))
• “frame_id” (string, default: std::string(“map”))

---

save_maps

save_maps saves layered OccupancyGrid to map files.

Subscribed topics

• ~/maps (new: maps) [map_organizer_msgs::OccupancyGridArray]

Published topics

Services

Called services

Parameters

---

select_map

select_map node publishes the desired layer from layered OccupancyGrid.

Subscribed topics

• /maps (new: maps) [map_organizer_msgs::OccupancyGridArray]
• ~/floor (new: floor) [std_msgs::Int32]

Published topics

• /map (new: map) [nav_msgs::OccupancyGrid]
• /tf

Services

Called services

Parameters

---

pose_transform

pose_transform transforms given pose into the desired tf-frame. This node is useful to convert rviz initialpose output to desired map frame.

Subscribed topics

• ~/pose_in (new: pose_in) [geometry_msgs::PoseWithCovarianceStamped]
• /tf

Published topics

• ~/pose_out (new: pose_out) [geometry_msgs::PoseWithCovarianceStamped]

Services

Called services

Parameters

• “to_frame” (string, default: std::string(“map”))

Changelog for package map_organizer

0.17.2 (2024-11-07)

0.17.1 (2024-03-22)

0.17.0 (2023-11-02)

0.16.0 (2023-09-14)

0.15.0 (2023-08-30)

0.14.2 (2023-07-31)

0.14.1 (2023-07-07)

0.14.0 (2023-06-06)

0.13.0 (2023-05-31)

0.12.2 (2023-02-28)

0.12.1 (2023-02-25)

0.12.0 (2023-01-30)

0.11.8 (2022-12-28)

0.11.7 (2022-08-05)

0.11.6 (2022-07-20)

0.11.5 (2022-07-06)

0.11.4 (2022-04-13)

0.11.3 (2021-12-02)

0.11.2 (2021-11-08)

0.11.1 (2021-10-29)

0.11.0 (2021-08-30)

0.10.11 (2021-06-21)

0.10.10 (2021-03-18)

0.10.9 (2021-03-16)

0.10.8 (2021-03-10)

0.10.7 (2021-03-07)

0.10.6 (2021-01-28)

0.10.5 (2020-12-24)

0.10.4 (2020-11-12)

• Migrate to GitHub Actions (#559)
• Contributors: Atsushi Watanabe

0.10.3 (2020-10-22)

0.10.2 (2020-10-07)

0.10.1 (2020-08-26)

0.10.0 (2020-08-06)

0.9.1 (2020-07-16)

0.9.0 (2020-07-02)

0.8.8 (2020-06-15)

0.8.7 (2020-05-22)

0.8.6 (2020-05-15)

0.8.5 (2020-05-04)

• Revert "Remove old workaround for debian stretch build (#473)" (#478)
• Contributors: Atsushi Watanabe

0.8.4 (2020-04-30)

• Remove old workaround for debian stretch build (#473)
• Clean unused dependencies (#472)
• Contributors: Atsushi Watanabe

0.8.3 (2020-04-26)

0.8.2 (2020-04-07)

• Support Noetic (#461)
• Contributors: Atsushi Watanabe

0.8.1 (2020-03-12)

0.8.0 (2020-03-04)

0.7.0 (2020-02-04)

0.6.0 (2020-01-18)

0.5.1 (2020-01-06)

• Migrate from C math functions to C++ (#407)
• Contributors: Atsushi Watanabe

0.5.0 (2019-10-21)

0.4.3 (2019-09-10)

0.4.2 (2019-08-19)

0.4.1 (2019-08-15)

• map_organizer: fix select_map test sequence (#333)
• map_organizer: add test for pointcloud_to_maps (#330)
• map_organizer: add simple test (#321)
• Drop ROS Indigo and Ubuntu Trusty support (#310)
• Contributors: Atsushi Watanabe

0.4.0 (2019-05-09)

• Add LICENSE file (#270)
• Contributors: Atsushi Watanabe

0.3.1 (2019-01-10)

• Fix pointer alignment style (#233)
• Migrate tf to tf2 (#230)
• Fix catkin package definitions (#206)
• Contributors: Atsushi Watanabe, So Jomura

0.2.3 (2018-07-19)

0.2.2 (2018-07-17)

• Workaround for debian stretch build problem (#199)
• Contributors: Atsushi Watanabe

0.2.1 (2018-07-14)

• Compile with PCL_NO_PRECOMPILE (#195)
• Contributors: Atsushi Watanabe

0.2.0 (2018-07-12)

• Fix build on Indigo (#180)
• Fix namespace migration messages (#174)
• Fix topic/service namespace model (#168)
• Fix package dependencies (#167)
• Fix naming styles (#166)
• Update package descriptions and unify license and version (#165)
• Use neonavigation_msgs package (#164)
• map_organizer: fix naming style. (#84)
• Fix find_package(Eigen3). (#83)
• Suppress compile warnings and test with -Werror. (#82)
• map_organizer: extract maps by rate based thresholds. (#65)
• Support package install. (#45)
• map_organizer: pointcloud_to_maps: makes parameters configurable. (#40)
• Fix coding styles. (#39)
• adds READMEs (#11)
• Subtree-merge 'map_organizer' package
• Contributors: Atsushi Watanabe