agt_pointcloud_map_tools

ROS 2 Humble point cloud map processing toolkit.

Goal

Provide reusable offline tools for:

• PCD map cleaning
• Dynamic artifact removal
• Point cloud filtering
• Map conversion preparation for localization and Nav2

Current roadmap

Phase 1

• PCD IO
• voxel filtering
• outlier removal
• cluster based dynamic ghost cleaning
• removed/kept point cloud debug export
• CLI and ROS2 node interfaces

Phase 2

• ground extraction
• elevation map generation
• slope map generation
• PCD to occupancy map projection

Repository status

Initial architecture skeleton.