3D Occupancy Grid #33
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…data outputs to /rover/imu and /rover/gps in ros2 now.
…currently hard coded)
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It looks like I did a lot, but I kept changing how everything was set up. The 3D occupancy mapping now runs through the node occupancy_grid.
Steps:
This will publish a 3d occupancy map that you can visualize in rviz using Marked Array.
**Note: For now, since there is no localization, you have to use /rover/base_link/camera_front as the Fixed Frame in rviz to see both the pointcloud and octomap. This also means that the node currently does not build a full octomap like we may need down the road, it converts the pointcloud that is currently being published only.