Topics in each launch files

[hxlee309]

Hi,

I notice that there are nine launch files in total. Could you briefly tell me the topics in each of them? Will the octomap.launch provide the global 2D occupancy grid?

Thanks,

Ethan

[Mayankm96]

Hi Ehtan,

Sure, I will try to add a more descriptive wiki to this repository illustrating the various launch files that are present there. But in general, the launch files present in launch/include are the ones that use other ROS packages to perform a given objective.

For instance, the octomap.launch launches the octomap_server. The information of that is here.

The question to your answer, yes you can get a projected 2D occupancy grid built from the Octomap. The topic for that would be: /projected_map with message type nav_msgs/OccupancyGrid.

Hope that answers your question.