Function navmap_ros::from_pointcloud2

Function Documentation

navmap::NavMap navmap_ros::from_pointcloud2(const sensor_msgs::msg::PointCloud2 &pc2, navmap_ros_interfaces::msg::NavMap &out_msg, BuildParams params)

Build a NavMap surface from a ROS sensor_msgs::msg::PointCloud2.

  • The cloud is decoded to pcl::PointXYZ and processed as in navmap_ros::from_points.

  • Non-Cartesian fields present in pc2 are ignored by this overload.

  • The resulting NavMap is exported to out_msg for downstream publication or storage.

Note

If the message is empty or lacks the required fields, no geometry is produced.

Parameters:

  • pc2 – [in] Input PointCloud2 message (expects fields x, y, z).

  • out_msg – [out] Output transport message mirroring the created NavMap.

  • params – [in] Meshing and filtering parameters (see ::BuildParams).

Returns:

The constructed navmap::NavMap.

Throws:

std::runtime_error – If decoding fails or meshing cannot be completed.