Map provider
Map publisher to load map data from map data file(s) and provide the necessary data for NDT localisation only (we are not doing planning in the map until a later milestone).
Relates to #180 (closed)
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Define necessary coordinate transforms and define where in the architecture they will happen (relates to #178 (closed)); follow ROS norms for coordinate frames; see also previous discussion on Discourse. -
Publish earth
->map
transform from Map Publisher
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Define the localisation map data format (relates to #205 (closed)) -
Design map query interface (interaction pattern) for localisation queries - Broadcasting topic? Service? Other option?
- Message definition for the data
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Implement functionality to load the map from file(s) -
Implement map provider node -
Document how to launch and configure the map provider -
Integrate map provider into the AVP demo launch files -
Test map provider with the NDT localisation #180 (closed)
Edited by Joshua Whitley