point_cloud_map_server is a ROS package used to load or save point cloud map.
- map_loader
load point cloud from pcd file and publish with sensor_msgs::PointCloud2 message on topic /point_cloud_map. - map_saver
receive point cloud from topic /point_cloud_map and save to pcd pile.
cd ${catkin_workspace}/src
git clone https://github.com/ningwang1028/point_cloud_map_server.git
cd ..
catkin_make- save map
rosrun point_cloud_map_server map_loader file_name
- load map
rosrun point_cloud_map_server map_saver xxx.pcd