hector_slam: hector_compressed_map_transport | hector_geotiff | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_nav_msgs | hector_slam_launch | hector_trajectory_server
Package Summary
hector_geotiff
- Author: Stefan Kohlbrecher
- License: BSD
- Repository: tu-darmstadt-ros-pkg
- Source: svn http://tu-darmstadt-ros-pkg.googlecode.com/svn/trunk/hector_slam/hector_geotiff
Contents
Documentation
This package provides a node that permits saving of map and robot trajectory data as RoboCup Rescue Robot League rules compliant geotiff files with georeference information. The node internally uses services to retrieve the required data. This incorporates:
The map using the "map" service (nav_msgs/GetMap)
The robot trajectory using the "trajectory" service (hector_nav_msgs/GetRobotTrajectory)
The trajectory can easily be made available using the hector_trajectory_server node. The launch file provided in the 'hector_geotiff/launch' directory shows a usage example.
Additional information can be written to the map through the use of plugins. The worldmodel_geotiff_plugins package contains an example with two plugins. The plugins to be loaded have to be specified as a space seperated list of plugin names via the 'plugins' parameter.
ROS API
geotiff_node
geotiff_node is a node that generates a geotiff map along with georeference information.Subscribed Topics
syscommand (std_msgs/String)- System command. If the string equals "savegeotiff" the node saves a geotiff file.
Parameters
~map_file_path (string, default: ".")- The path generated geotiff maps are saved to.
- The base name given to the generated geotiff file. The current time is appended to this base name when the map is saved.
- A space seperated list of plugin names that should be loaded for the node. Per default, none are loaded.
Report a Bug
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