37 lines
1.5 KiB
ReStructuredText
37 lines
1.5 KiB
ReStructuredText
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.. Copyright 2016 The Cartographer Authors
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.. Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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.. http://www.apache.org/licenses/LICENSE-2.0
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.. Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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=======
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ROS API
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=======
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Published Topics
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================
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map (`nav_msgs/OccupancyGrid`_)
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Currently only supported in 2D. If subscribed to, a background thread will
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continuously compute and publish the map. Depending on the size of the map, it
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can take a few seconds between updates.
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scan_matched_points2 (`sensor_msgs/PointCloud2`_)
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Point cloud as it was used for the purpose of scan-to-submap matching.
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submap_list (`cartographer_ros_msgs/SubmapList`_)
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List of all submaps of all trajectories, containing the pose and latest
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version number of each submap.
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.. _cartographer_ros_msgs/SubmapList: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/msg/SubmapList.msg
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.. _nav_msgs/OccupancyGrid: http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html
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.. _sensor_msgs/PointCloud2: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
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