Map Workflows

Reference, not tutorial

Use this page as a map-registration lookup. If you need the teaching path first, read Tutorial 5: Robot description and Tutorial 6: Global maps before choosing a showcase script.

Map layers in HORUS are registered through SDK DataViz as global visualizations. The curated examples separate the registration script from the paired runtime that publishes the map data.

Shared prerequisite

For the robot-description-backed map examples:

python3 python/examples/tools/fetch_robot_description_assets.py

Occupancy grid

# terminal A
python3 python/examples/legacy/fake_tf_robot_description_suite.py --robot-profile real_models --publish-occupancy-grid

# terminal B
python3 python/examples/occupancy_map_registration.py

PointCloud2

# terminal A
python3 python/examples/legacy/fake_tf_robot_description_suite.py --robot-profile real_models --map-3d-mode pointcloud --map-3d-profile realistic

# terminal B
python3 python/examples/pointcloud_map_registration.py

Dense mesh

# terminal A
python3 python/examples/legacy/fake_tf_robot_description_suite.py --robot-profile real_models --map-3d-mode mesh --map-3d-profile realistic --map-3d-mesh-voxel-size 0.07 --map-3d-mesh-max-voxels 220000 --map-3d-mesh-max-triangles 220000 --map-3d-mesh-update-policy snapshot

# terminal B
python3 python/examples/mesh_map_registration.py

Octomap-style mesh

# terminal A
python3 python/examples/legacy/fake_tf_robot_description_suite.py --robot-profile real_models --map-3d-mode octomap --map-3d-profile realistic

# terminal B
python3 python/examples/octomap_registration.py

Operational notes

• global_maps_registration.py remains useful when you want one registration payload carrying multiple map families at once.
• Point cloud and mesh examples are the most sensitive to render-option tuning, workspace scale, and performance budgets.
• In MR, global layers stay workspace-gated; they are not the trigger for full robot rebuilds.