This is a modified version of the original traversability_mapping that can be found here.
This repository contains code for a traversability mapping and motion planning system for ROS compatible UGVs. The system takes in point cloud from a Velodyne VLP-16 Lidar and outputs a traversability map for autonomous navigation in real-time. A demonstration of the system can be found here -> https://www.youtube.com/watch?v=4pdBpeRGXmw
You can use the following commands to download and compile the package.
cd ~/catkin_ws/src
git clone https://github.com/LTU-RAI/traversability_mapping.git
cd ..
catkin build -j1
When you compile the code for the first time, you need to add "-j1" behind "catkin build" for generating some message types. "-j1" is not needed for future compiling.
- Run the launch file:
roslaunch traversability_mapping offline.launch
- Play existing bag files:
rosbag play *.bag --clock
Notes: our system only needs /velodyne_points for input from bag files. However, a 3D SLAM method usually needs /imu/data.
/spot/velodyne_points Velodyne point cloud, can be configured in launch file.
/elevation_pointcloud voxel point cloud of hight map with traversability data
/occupancy_map_local occupancy map local to robot
/occupancy_map_global global occupancy map
Thank you for citing our paper if you use any of this code:
@inproceedings{bayesian2018shan,
title={Bayesian Generalized Kernel Inference for Terrain Traversability Mapping},
author={Shan, Tixiao and Wang, Jinkun and Englot, Brendan and Doherty, Kevin},
booktitle={In Proceedings of the 2nd Annual Conference on Robot Learning},
year={2018}
}