hector_map_server: hector_map_server provides a service for retrieving the map, as well as for raycasting based obstacle queries (finds next obstacle in the map, given start and endpoint in any tf coordinate frame).

hector_map_server provides a service for retrieving the map, as well as for raycasting based obstacle queries (finds next obstacle in the map, given start and endpoint in any tf coordinate frame).

• Homepage: http://wiki.ros.org/hector_map_server