pev_mapping_tools

provide 2D and 3D mapping tools and point cloud map filtering.

PCD File to PGM Grid

# Execute
roslaunch pev_map_server pcd_to_map.launch pcd_file:=~/pcd/PCD_FILE
# Save to pgm
cd ~/pev_ws/src/pev_mapping_tools/pev_map_server/maps/map2d
rosrun map_server map_saver -f SAVE_MAP_NAME