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Interesting functionality. Is it near to being merged? |
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This PR adds the functionality to publish the results of Bonxai mapping as an OctoMap. This is particularly useful for functionalities such as collision-free path planning with MoveIt, which requires the voxel grid to be represented as an OctoMap.
The feature can be enabled using the boolean parameter
octomap_topic_. When enabled, the OctoMap representation is generated and published, facilitating seamless integration with planning systems like MoveIt that depend on this format.Key updates:
Added support for publishing Bonxai mapping results as an OctoMap.
Controlled through a boolean parameter
octomap_topic_for flexibility.This enhancement improves compatibility and expands the use cases of Bonxai mapping by enabling support for systems requiring OctoMap representations.