Nodes

oort_ros

Scripts

oort_bag

Runs oort offline. oort_bag expects the same topics and transforms as oort_ros except that it expects all its messages to be in a given bagfile and the name of the scan topic can be specified as an argument:

rosrun oort oort_bag <bagname> <scan topic> <params.json (optional)> <resume_map (optional)>

oort_conv

Renders a raw Oort Cap’n Proto map as pngs:

rosrun oort oort_conv <capnp_file> <output_prefix> <params.json>