Overview
3D occupancy grid map component. This component is implemented using OctoMap(http://octomap.sourceforge.net/).
| implementation_id | OccupancyGridMap3D |
| category | example |
| initialize function | OccupancyGridMap3DInit |
Data Ports
Input Ports
| port name | data type | unit | description |
| cloud | PointCloudTypes::PointCloud | | point cloud given in the sensor coordinates |
| pose | RTC::Pose3D | | sensor coordinates |
| update | RTC::TimedLong | | true to update the map, false otherwise |
Output Ports
| port name | data type | unit | description |
| updateSignal | RTC::TimedLong | | signal to notify the map is updated(The value has no meaning) |
Service Ports
Service Providers
Service Consumers
N/A
Configuration Variables
| name | type | unit | default value | description |
| resolution | double | [m] | 0.1 | size of voxel |
| occupiedThd | double | | 0.5 | threshold to decide a voxel as occupied |
| initialMap | std::string | | | path of the initial map |
| knownMap | std::string | | | path of the known map. The known map is never modified. |
| debugLevel | int | | | debug level |
Configuration File
N/A
