 | 1 | initial version |
I could generate 2.5D map simply subscribing height message and put it into base_link tf.
http://www.youtube.com/watch?list=UUUMq8_xIORNn1P_jkQ58vKQ&feature=player_detailpage&v=JoIcV92jEWc
Also, rviz provides colorized visualization for specified axis.
This is my vcg file.
Background\ ColorR=0
2 Background\ ColorG=0
3 Background\ ColorB=0
4 Fixed\ Frame=/map
5 Target\ Frame=<Fixed Frame>
6 Grid.Alpha=0.2
7 Grid.Cell\ Size=1
8 Grid.ColorR=1
9 Grid.ColorG=1
10 Grid.ColorB=1
11 Grid.Enabled=1
12 Grid.Line\ Style=0
13 Grid.Line\ Width=0.03
14 Grid.Normal\ Cell\ Count=0
15 Grid.OffsetX=0
16 Grid.OffsetY=0
17 Grid.OffsetZ=0
18 Grid.Plane=0
19 Grid.Plane\ Cell\ Count=80
20 Grid.Reference\ Frame=<Fixed Frame>
21 Laser\ Scan.Alpha=1
22 Laser\ Scan.Billboard\ Size=0.01
23 Laser\ Scan.Color\ Transformer=Axis
24 Laser\ Scan.Decay\ Time=100
25 Laser\ Scan.Enabled=1
26 Laser\ Scan.Position\ Transformer=XYZ
27 Laser\ Scan.Selectable=1
28 Laser\ Scan.Style=0
29 Laser\ Scan.Topic=/scan
Cheers.
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