added LoadPCD.srv #30
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[33] PASSED on noeticAll tests passed |
[33] PASSED on melodicAll tests passed |
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[34] PASSED on noeticAll tests passed[34] PASSED on melodicAll tests passed |
[37] PASSED on melodicAll tests passed[37] PASSED on noeticAll tests passed |
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Service definition accompanies other pull request in mcl_3dl: at-wat/mcl_3dl#381
The map to localize in was previously loaded with a sensor_msgs::PointCloud2 topic. It was not guaranteed that the map was actually loaded with a single publish on the topic. Also it was overkill if you had a pcd you wanted to localize in, because you would have to convert it first to a PointCloud2, then publish it, and then it would be converted in mcl_3dl to a PCL cloud.
This service facilitates loading a pcd file by file path, directly into mcl_3dl.