The cob_3d_mapping_point_map package provides a configurable node for aggregating point maps from point cloud data. It mainly performs registration.



The point_map node takes in sensor_msgs/PointCloud2 messages and aggregates a point map. If possible, point clouds should be registered in advance. The map can be cleared using a service call.

Subscribed Topics

/point_cloud2 (sensor_msgs/PointCloud2)
  • The input point cloud

Published Topics

/point_cloud2_map (sensor_msgs/PointCloud2)
  • The aggregated point map


clear_map (cob_srvs/Trigger)
  • Clears the point map.
get_map (cob_3d_mapping_msgs/GetPointMap)
  • Returns the current point map.
set_map (cob_3d_mapping_msgs/SetPointMap)
  • Sets a map, overrides existing map


~voxel_leafsize_x (double, default: 0.03)
  • Map resolution in x direction
~map_frame_id (string, default: map)
  • Frame ID for the map
~save (bool, default: false)
  • Flag for saving the map as a PCD file after each update (for debugging)
~file_path (string, default: /tmp)
  • File path for saving the map


Launch the point map node

roslaunch cob_3d_mapping_point_map aggregate_point_map.launch

Save map to a PCD file

rosrun cob_3d_mapping_point_map get_point_map map.pcd

Clear the map

rosservice call point_map/clear_map

Load an initial map from a PCD file (PointXYZRGB)

rosrun cob_3d_mapping_point_map set_point_map map.pcd

Wiki: cob_3d_mapping_point_map (last edited 2012-10-24 11:53:39 by GeorgArbeiter)