Generates a local 2d occupancy grid from a rgbd stream using laser raytracing
| Parameter | Type | Default | Description |
|---|---|---|---|
| _depth | string | /camera/depth_registered/image_raw | Input depth topic if =="none" disable |
| _depth_transport | string | raw | Depth image transport type |
| _queue | int | 1 | Queue size for the synchronizer |
| _radius | float | 0.0 | Radius of the local map (if ==0 generates a global map) |
| _odom_frame | string | odom | Odom frame |
| _base_frame | string | base_footprint | Base 2D footprint |
| _clear | bool | false | Clear the global map when extracting the local map (currently broken) |
| _pmiss | double | 0.3 | Free space probability update |
| _phit | double | 0.7 | Occupied space probability update |
| _plow | double | 0.1 | Minimum probality clamping |
| _pup | double | 1.0 | Maximum probality clamping |
rosrun localmapper localmapper _radius:=3
/local_map or /global_map