increased scan matching freq and saving the world map

patweatharva · Apr 30, 2024 · 65980b9 · 65980b9
1 parent 8d22355
commit 65980b9
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Showing 6 changed files with 2,447 additions and 1,603 deletions.
diff --git a/include/scan_match_node.hpp b/include/scan_match_node.hpp
@@ -140,6 +140,9 @@ class ScanHandler
     void storeWorldPointCloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud)
     {
         map_storedPointClouds_.push_back(cloud);
+        std::string packagePath = ros::package::getPath("turtlebot_graph_slam");
+        std::string directory = "/pcl_viz/";
+        pcl::io::savePCDFileASCII(packagePath + directory + "world_map.pcd", *cloud);
     };
 
 private: