Original Repo : https://github.com/ros-perception/slam_karto
Offline mapping node is added.
Online SLAM node from original repository.
Offline SLAM node.
map (nav_msgs/OccupancyGrid)
Map data is published only when "publish_map" service is called.
map_metadata (nav_msgs/MapMetaData)
visualization_marker_array (visualization_msgs/MarkerArray)
This is also published only when "publish_map" service is called.
The following services are added.
publish_map (std_srvs/Empty)
Request to publish map data.
The following parameters are added.
~bag_filename (string, default: "")
File path of rosbag file.
~scan_topic (string, default: "")
Topic name of laser scan data.
~start_time_sec (double, default: 0.0)
Start mapping from this time. [sec]
~laser_range_threshold (double, default: 80.0)
Threshold of the laser scan ranges. [m]