Create map from raw point cloud data and navigation& planning

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Hi all,

I have a raw pcd point cloud data. Is it possible to generate a 2D/3D map for ground vehicles and then load for navigation and planning? So ground would be free space and obstacles would be defined by Z-depth.

I have googled a lot online but get a little lost. I summarized some of posts suggestions and have questions related.

1. We can convert point cloud data into octomap file. But how can we navigate and plan path on that? Can we convert octomap into 2D costmap and then utilize move_base planner for navigation?

2. We also can convert point cloud data into grid_map and then generate a occupancy grid. But how to make the map navigable? I mean, like a costmap.

3. Besides these 2D maps above, any tools to do navigation and planning in 3D? So we can directly use octomap or grid_map then no need to plan on 2D costmap.

Really appreciate your thoughts and sharing.