Octomap pipeline launch
Launch the live point-cloud-to-Octomap pipeline and its MoveIt planning-scene bridge.
src.beambot.launch.octomap_mapping.launch · Source
Perception and mapping · Guide · Symbol index
How it is used
ROS launch calls generate_launch_description() to connect the point-cloud relay, Octomap server, and MoveIt planning-scene bridge. It consumes /points/xyz; camera acquisition and robot motion are supplied separately.
Use octomap_path to seed the pipeline from a saved map. The launch configures 1 cm voxels/resolution, a 2 m sensor range, and a 0.5-second scene-update interval.
Start here
Callable |
Purpose |
|---|---|
Declare optional saved-map path and construct relay, octomap server and planning-scene bridge actions with 1 cm resolution/voxel size, 2 m sensor range and 0.5-second scene-update throttling. |
Functions
generate_launch_description()
Declare optional saved-map path and construct relay, octomap server and planning-scene bridge actions with 1 cm resolution/voxel size, 2 m sensor range and 0.5-second scene-update throttling.
Entry point · Source
generate_launch_description()
Returns: LaunchDescription with one argument and three nodes. cloud_in remaps to /points/xyz_relayed; map frame is base_link and filter_ground_plane is False. No transform_tolerance override is supplied.
Errors: Launch-object construction errors propagate; saved-map validity and TF/topic availability are checked only by launched components.
Side effects: Builds launch actions; execution subscribes/publishes point clouds, octomap and planning scene and may read the saved map.