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This is a meta package for launching the mapping pipeline. The pipeline consists of

  1. point cloud registration

  2. aggregation of a point map

  3. segmentation of geometric shapes (e.g. planes)

  4. aggregation of a geometric map

For more information about the enviornment perception see cob_environment_perception

http://wiki/cob_environment_perception?action=AttachFile&do=get&target=perception.jpg

Usage/Examples

Launch the pipeline by

roslaunch cob_3d_mapping_pipeline mapping.launch

Trigger mapping by calling

rosrun cob_3d_mapping_point_map trigger_mapping.py <start|stop>

2019-10-19 12:35