This package implements the ROS wrappers for the act_map package, including publishing/subsribing topics, parameter reading and visualization.
ActMapServer is a templated class that provides an interface for the information field. The most important functions are:
- build information field incrementally (as 3D features are added) or in a batch
- publish and receive the information field (as Voxblox layers) via ROS messages
- load and save the information field
- query the information at a given pose (e.g., used in planning)
Under the src folder, there are several specializations of the server class using different voxel types.
UEProvider is an interface that talks with an UnrealCV server. It basically simulates a sensor that corresponds to the camera in Unreal Engine and publishes the following:
- The pose of the sensor as
tftransformation - The image of the sensor
- The depth (z-depth)
This can be used as the input to vision algorithms (e.g., mapping using a depth camera).