AnthonyCvn/local_grid_map

Package Name

Overview

Create a local grid map based on stereo images.

Keywords: local, map, grid

License

The source code is released under a BSD 3-Clause license.

Author: Anthony Cavin

The local_grid_map package has been tested under ROS kinetic and Ubuntu 16.04.

Installation

Reference page to install ROS kinetic on Ubuntu:

Robot Operating System (ROS)

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• image_transport (C++ library for images transport),
• grid_map (C++ library with ROS interface to manage grid maps),
• OpenCV (library for computer vision)

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/AnthonyCvn/local_grid_map.git
cd ../
catkin build local_grid_map

Unit Tests

Run the unit tests with

catkin run_tests local_grid_map

Usage

Run the main node with

roslaunch local_grid_map default.launch

Launch files

• default.launch: Launch a default local grid map.

  Argument set 1

  • map_frame_id . Default: /map0.

  Argument set 2

  • image_topic left image topic (Theora compressed). Default: /camera0/camera_capture/camera/image.

  Argument set 4

  • publish_rate Rate of publishing the local grid map in Hz. Default: 10.

Nodes

local_grid_map

Create a local grid map based on stereo images.

Subscribed Topics

• /camera0/camera_capture/camera/image/theora (theora_image_transport/Packet)

  Image topic.

Published Topics

• /image ([sensor_msgs/Image])

  The images captured with the camera in raw format.

Services

• trigger ([camera_capture/SetCamera])

  Trig the local grid map publisher.

    rosservice call /local_grid_map/trigger
  

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.