Output Settings

The adapters which ingest points and grids (spot, ros.pointcloud2, ros.laser-scan, ros.occupancy-grid and static-pointcloud) can write what they ingest into the map in several ways. These settings are shared by all of them.

Setting	Type	Description	Default
outputMode	string	The kind of node the adapter writes. One of: - "voxeltiler" writes voxels, divided into tiles. - "voxelmap" writes voxels as a single node. - "rastertiler" writes a raster, divided into tiles. - "rastermap" writes a raster as a single image. - "disabled" runs the adapter but writes no points.	"voxeltiler"
voxelSettings	object	The octree settings used when outputMode is a voxel mode. See Voxels.
rasterSettings	object	The image settings used when outputMode is a raster mode. See Rasters.
mappingSettings	object	The colours used to draw occupied, unoccupied and unexplored space when outputMode is a raster mode. See Rasters.

Example

"uniqueAdapterName": {
  "enabled": true,
  "type": "ros.laser-scan",
  "settings": {
    "source": "/ros/scan",
    "outputMode": "rastertiler",
    "rasterSettings": {
      "resolutionX": 0.05
    },
    "mappingSettings": {
      "occupiedColor": "black"
    }
  }
}