Revision history [back]

when you already have a 3d pointcloud you could have a look at http://www.ros.org/wiki/octomap_server , just give this node your pointcloud2-msgs and it will generate a 2D and 3D map out of it (the 2d map is just the downprojected 3d map)

just do an apt-get install ros-groovy-octomap*

example launch file:

<!--
firing up the octomap server to generate 2D/3D occupancy maps
-->

<launch>
  <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
    <!-- resolution in meters per pixel -->
    <param name="resolution" value="0.05" />
    <!-- name of the fixed frame, needs to be "/map" for SLAM -->
    <param name="frame_id" type="string" value="/map" />
    <!-- max range / depth resolution of the kinect in meter -->
    <param name="sensor_model/max_range" value="4.0" />
    <param name="latch" value="true" />
    <!-- max/min height for occupancy map, should be in meters -->
    <param name="pointcloud_max_z" value="1.75" />
    <param name="pointcloud_min_z" value="0.1" />
    <!-- topic from where pointcloud2 messages are subscribed -->
    <remap from="cloud_in" to="/camera/depth_registered/points" />
  </node>
</launch>