| 7 | bool remove_floor_ceil_ = false; |
| 8 | |
| 9 | void gridmap_callback(const quadrotor_msgs::OccMap3dConstPtr& msgPtr) { |
| 10 | mapping::OccGridMap gridmap; |
| 11 | gridmap.from_msg(*msgPtr); |
| 12 | sensor_msgs::PointCloud2 pc; |
| 13 | gridmap.occ2pc(pc); |
| 14 | pc.header.frame_id = "world"; |
| 15 | gridmap_vs_pub.publish(pc); |
| 16 | } |
| 17 | void gridmap_inflate_callback(const quadrotor_msgs::OccMap3dConstPtr& msgPtr) { |
| 18 | mapping::OccGridMap gridmap; |
| 19 | gridmap.from_msg(*msgPtr); |