Can we run path exploration with the PCD map ?

[ajay1606]

Hello,

First of all thank you so much sharing such a very nice repository for path planning.
I have followed the tutorial and tested with simulation environment and everything working fine.
After going through videos and tutorials, i have few question, i would greatly appreciate your response.

1. Can we explore path in our custom prebuilt PCD map ? without being
2. Do we need to rely voxblox ? Can we use any alternative mapping library !

Currently, i am working with robot for underground mining and we are using lidar map matching algorithm for localization
and publishing /odometry topic. We are looking for using this package for path exploration in the pcd map.

Any inputs greatly appreciated.

Regards,
Ajay