This package is used to convert a point cloud into a 2D map, it runs in two steps, first it takes in the point cloud and then loads the poses. After this it iterates over the poses and loads the points that belong to that pose and removes points higher than the robot height. After that it converts the point cloud to an elevation map. Then it fills empty spaces and then calculates the traversibility map where each cell is assigned value by how much slope it makes to its neighboring cells.
To run the code, edit the path to the input point cloud and also the poses, build it and then
rosrun pcdWindows pcdWindows
It will take time some time to run, close other programs to save RAM. After it is done, the 2D map created. Save it using:
rosrun map_server map_saver map:=/obstacles