map_organizer package

The topic names will be migrated to ROS recommended namespace model. Set /neonavigation_compatible parameter to 1 to use new topic names.

pointcloud_to_maps

pointcloud_to_maps node detects floors from given pointcloud and publishes layered OccupancyGrid.

Subscribed topics

• ~/map_cloud (new: mapcloud) [sensor_msgs::PointCloud2]

Published topics

• maps [map_organizer_msgs::OccupancyGridArray]
• map? [nav_msgs::OccupancyGrid]

Services

Called services

Parameters

• points_thresh_rate (double, default 0.5)

  Layers with larger numbers of points than (max * rate) are extracted as floors.

• floor_area_thresh_rate (double, default 0.8)

  Layers with (max * rate) are extracted as floors.

• robot_height (double, default 1.0)

  Points with (floor_height + floor_tolerance) to floor_height of height are assumed as walls.

• floor_height (double, default 0.1)

  Points with +-floor_height of height are assumed as floors.

• floor_tolerance (double, default 0.2)

  Points with floor_height to (floor_height + floor_tolerance) of height are ignored.

• min_floor_area (double, default 100.0)

  Minimum floor area (m^2).

tie_maps

tie_maps node loads maps from files and ties into layered OccupancyGrid.

Subscribed topics

Published topics

• maps [map_organizer_msgs::OccupancyGridArray]
• map? [nav_msgs::OccupancyGrid]

Services

Called services

Parameters

• “map_files” (string, default: std::string(“”))
• “frame_id” (string, default: std::string(“map”))

save_maps

save_maps saves layered OccupancyGrid to map files.

Subscribed topics

• ~/maps (new: maps) [map_organizer_msgs::OccupancyGridArray]

Published topics

Services

Called services

Parameters

select_map

select_map node publishes the desired layer from layered OccupancyGrid.

Subscribed topics

• /maps (new: maps) [map_organizer_msgs::OccupancyGridArray]
• ~/floor (new: floor) [std_msgs::Int32]

Published topics

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Changelog for package map_organizer

0.18.2 (2025-07-16)

0.18.1 (2025-06-06)

0.18.0 (2025-05-13)

0.17.7 (2025-04-16)

0.17.6 (2025-03-18)

0.17.5 (2025-02-21)

0.17.4 (2025-01-20)

0.17.3 (2024-12-25)

0.17.2 (2024-11-07)

0.17.1 (2024-03-22)

0.17.0 (2023-11-02)

0.16.0 (2023-09-14)

0.15.0 (2023-08-30)

0.14.2 (2023-07-31)

0.14.1 (2023-07-07)

0.14.0 (2023-06-06)

0.13.0 (2023-05-31)

0.12.2 (2023-02-28)

0.12.1 (2023-02-25)

0.12.0 (2023-01-30)

0.11.8 (2022-12-28)

0.11.7 (2022-08-05)

0.11.6 (2022-07-20)

0.11.5 (2022-07-06)

0.11.4 (2022-04-13)

0.11.3 (2021-12-02)

0.11.2 (2021-11-08)

0.11.1 (2021-10-29)

0.11.0 (2021-08-30)

0.10.11 (2021-06-21)

0.10.10 (2021-03-18)

0.10.9 (2021-03-16)

0.10.8 (2021-03-10)

0.10.7 (2021-03-07)

0.10.6 (2021-01-28)

0.10.5 (2020-12-24)

0.10.4 (2020-11-12)

• Migrate to GitHub Actions (#559)
• Contributors: Atsushi Watanabe

0.10.3 (2020-10-22)

0.10.2 (2020-10-07)

0.10.1 (2020-08-26)

0.10.0 (2020-08-06)

0.9.1 (2020-07-16)

0.9.0 (2020-07-02)

0.8.8 (2020-06-15)

0.8.7 (2020-05-22)

0.8.6 (2020-05-15)

0.8.5 (2020-05-04)

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