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1 导航地图生成

roslaunch navi_map octomap_convert.launch

待完成任务:

1 地面提取:是否需要提取出地面,或是在slam的流程中将z轴矫正,因为在slam中的odom是相对于起始点的,但是若我投影到地面上,会导致odom的偏移,但若不投影是否误差也会存在,只是投影的倾斜会让障碍物变大

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pcl to voxel map

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