File: rtabmap_ros/CleanupLocalGrids.srv
Raw Message Definition
# Cleanup local grids service
#
# Clear empty space from local occupancy grids
# (and laser scans) based on the current optimized global 2d grid map.
# If the map needs to be regenerated in the future (e.g., when
# we re-use the map in SLAM mode), removed obstacles won't reappear.
# Use this with care and only when you know that the map doesn't have errors,
# otherwise some real obstacles/walls may be cleared if there is too much
# drift in the map.
#
# Radius in cells around empty cell without obstacles to clear underlying obstacles, default 1 cell if not set.
int32 radius
# Filter also the scans, default false if not set.
# The filtered laser scans will be used for localization,
# so if dynamic obstacles have been removed, localization won't try to
# match them anymore. Filtering the laser scans cannot be reverted,
# but grids can (see DatabaseViewer->Edit menu).
bool filter_scans
---
# return the number of grids or scans modified, -1 if there is an error
int32 modified
Compact Message Definition
int32 radius
bool filter_scans
int32 modified