Unanimous_path_finding

-> 3D & 2D path finding

Execution

3D to 2D map making

3D & 2D path finding

Direction

launch path planning

roslaunch footstep_planner footstep_planner_complete.launch (always run with server)

load map

rosrun map_server map_server /home/yunan/catkin_ws/src/cloud_to_map/map/Hyungnam11.yaml

• run any map

publish&save path

rosrun cloud_to_map publish_start_goal (always run with server)

open rviz setting

open file

~/catkin_ws/src/cloud_to_map/3drviz.rviz

link connect

rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link map 10

publish pcd to pointcloud

rosrun pcl_ros pcd_to_pointcloud [pcd file]
rosrun pcl_ros pcd_to_pointcloudcopy [pcd file]

ex)
rosrun pcl_ros pcd_to_pointcloud /home/yunan/Desktop/map2d3d/launchmap/lssu.pcd
rosrun pcl_ros pcd_to_pointcloudcopy /home/yunan/Desktop/map2d3d/launchmap/hn_mirae.pcd