Pointcloud2Map-Tinker

Pointcloud2Map for Tinker is based on pcd2pgm.

This repository is used to convert the PointCloud2 data achieved when doing 3D SLAM to a grid map in pgm format.

The octomap packages in this repository are not used yet. We expect to use octomap to do the convertion in the future.

We first use pointcloud2pcd to convert PointCloud2 to .pcd file, then use pcd2pgm to convert the .pcd file to .pgm grid map

Install depencies

rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

Build

colcon build --packages-select octomap_msgs octomap_ros
source ./install/setup.zsh 
colcon build

Save PointCloud2 to .pcd file

ros2 run pointcloud2pcd pointcloud2pcd_node

pointcloud2pcd_node subscribes /Laser_map and converts the pointcloud2 data to a .pcd file.

If the convertion runs successfully, the pointcloud2 data will be saved in pointcloud2pcd.pcd.

Convert .pcd file to .pgm grid map

Convert Map

You can change the file_directory & file_name of the .pgm file in /pcd2pgm/config/pcd.yaml

ros2 launch pcd2pgm pcd2pgm.launch.py

Save Map

ros2 run nav2_map_server map_saver_cli -f YOUR_MAP_NAME