This project is based on ORB_SLAM2 generate and release pointcloud data, octree data and 2D grid occupy map. And map saving and overloading are added.
Subscribed Topics/camera/color/image_raw (sensor_msgs/Image)
- Camera RGB image.
- Camera depth image.
- Point cloud image
Published Topics/orbslam2/octomap (octomap_msgs/Octomap)
- Octree map.
- Two-digit occupancy grid map.
- Odom frame data.