Google Cartographer 3D map for localization [closed]

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Thanks for your reply but accroding to https://github.com/googlecartographer... it is not a 2D Occupancy Grid Map that ROS Navigation Stack can use, it is a X-ray map . According to damonkohler answer, they include all range data projected into a 2D plane. X-rays are a 2D representation of vertical density that's useful for humans, but probably not for robots. So it is useless for Navigation Stack.

Your entire problem is self inflicted. You localize in 3D and navigate in 2D. Why don't you make your dimensions match? If you navigate in 2D then localize in 2D and use the occupancy grids. If you really want to localize in 3D then you should query the submaps for their point clouds, convert those to e.g. octomaps for 3d navigation or slice along the z axis in the domain your robot will navigate and project the resulting cloud down to 2d to convert that to an occupancy grid.

I will try to convert 3D pbstream file to point cloud data. I will create an elavation map in 2D from this point cloud data.

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