tutorial_demo.yaml

grid_map_topic: /grid_map_tutorial_demo/grid_map

grid_map_visualizations:

  - name: elevation_points
    type: point_cloud
    params:
     layer: elevation
     
  - name: noisy_points
    type: point_cloud
    params:
     layer: elevation_noisy
     
  - name: filtered_points
    type: point_cloud
    params:
     layer: elevation_filtered
     
  - name: map_region
    type: map_region
    params:
     color: 3289650
     line_width: 0.003
    
  - name: elevation_grid
    type: occupancy_grid
    params:
     layer: elevation
     data_min: 0.08
     data_max: -0.16
     
  - name: error_grid
    type: occupancy_grid
    params:
     layer: error
     data_min: -0.15
     data_max: 0.15
     
  - name: surface_normals
    type: vectors
    params:
     layer_prefix: normal_
     position_layer: elevation
     scale: 0.06
     line_width: 0.005
     color: 15600153 # red

  - name: elevation_cells
    type: grid_cells
    params:
     layer: elevation
     lower_threshold: -0.08
     upper_threshold: 0.0