Local Map Window
================

.. figure:: ../../image/local_map_window.png
   :alt: local_map_window
   :width: 900

   Local map visualization window.

Overview
--------

In the screenshot above, the left panel manages map sources and parameters,
while the right panel renders the 3D map view. The Messages and Files tabs let
you switch between live topics and stored point clouds.

Layout
------

* **Messages tab**: discover live heightmap and point cloud topics, and toggle
  them on or off.
* **Files tab**: load ``.pcd`` files from ``$HOME/.raisin/pointcloud_map`` and
  publish an initial pose.
* **3D viewer**: Rayrai rendering of the selected map layers and robot frame.
* **View controls**: Robot View and Next Ortho-View buttons in the viewer.

Controls and Indicators
-----------------------

* **Refresh sensor topics** rebuilds the list of heightmap and point cloud
  publishers.
* **Frame selector** chooses the fixed frame used for visualization.
* **Decay time** sets point cloud persistence for each topic.
* **Load Point Cloud** loads a file using the selected unit scale.
* **Publish** sends an initial pose via ``/initialpose``.

Data Sources
------------

* Heightmaps use ``raisin_interfaces::msg::Heightmap``.
* Point clouds use ``sensor_msgs::msg::PointCloud2``.
* The robot state is updated via ``robot_state`` for the 3D context.

Notes
-----

* Use the unit selector when loading maps created in millimeters or micrometers.
* If the frame list is empty, refresh topics after connecting to a robot.