Mesh Map Generation

[weiluduan2]

Hi, Thanks for contribution, I recently plan to use it as navigation algorithm for robotic dog. May I know how you exactly generate the mesh map from point cloud(real world)?
And I think if in simulation, you guys may not generate mesh map from point cloud, but from gazebo world file. Could you provide some tools to do so? Thanks

[amock]

Hi @weiluduan2 ,

You are right. For simulations it's pretty easy as we can load the same mesh in Gazebo and in mesh_navigation. For real scenarios it is usually a bit more complicated. Many things involved in generating such a mesh from noisy observations are a separate research topic and beyond the scope of this repository.

Nevertheless, we have started to collect some workflows in this documentation. You can access them via the mesh_navigation as well as the mesh_navigation_tutorials repository. So start with these two first. If you have any questions, feel free to ask.

[amock]

Furthermore, extending the documentation is still an ongoing process. And since this package is open-source, we invite everyone to contribute to it:

• If you miss information, contact us
• If you know what information is missing, write the missing information as Markdown, like you want to have it written in the docs, and send it to us
• If you have a running workflow for your robot, you can write a guide and send it to us (also as Markdown). We will then integrate it into the docs somewhere.

At the moment the process of integrating docs from the community is quite complicated. This will probably change in the near future so that we can accept doc changes/enhancements via pull requests instead.