This is a meta package for launching the mapping pipeline. The pipeline consists of

1. point cloud registration

2. aggregation of a point map

3. segmentation of geometric shapes (e.g. planes)

4. aggregation of a geometric map

For more information about the enviornment perception see cob_environment_perception

Usage/Examples

Launch the pipeline by

roslaunch cob_3d_mapping_pipeline mapping.launch

Trigger mapping by calling

rosrun cob_3d_mapping_point_map trigger_mapping.py <start|stop>