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Define, what a 3D map is for you and what you expect from the algorithm.
I'm assuming from the topic you want mapping from known poses and not SLAM. There are multiple valid representations. A quick and simple way would be to build an octomap using the octomap_server package. This accepts localized (via tf) PointCloud2 and produces an octree map.
| | 2 | No.2 Revision |
Define, what a 3D map is for you and what you expect from the algorithm.
I'm assuming from the topic you want mapping from known poses and not SLAM.
There are multiple valid representations. A quick and simple way would be to build an octomap using the octomap_server octomap_server package. This accepts localized (via tf) PointCloud2 and produces an octree map.
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