catkin_create_pkg ogmd rospy std_msgs sensor_msgs
Make sure that models and best_acc_ckpt.pth are in the same directory as the test_map_quality.py file.
chmod +x test_map_quality.py
cd ~/catkin_ws
catkin_make
roscore
Before running the code, either publish the occupancy grid map to the topic /occupancy_map or save it to occupancy_map.pgm in the same directory as the test_map_quality.py file, then run
rosrun ogmd test_map_quality.py
the detected map quality, either Normal or Abnormal, will be published to /map_quality topic