/BGK_traversability_mapping

Primary LanguageC++GNU General Public License v3.0GPL-3.0

Bayesian Generalized Kernel Inference for Terrain Traversability Mapping

This repository contains code for the paper "Bayesian Generalized Kernel Inference for Terrain Traversability Mapping".

Get Started

Compile

You can use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone https://github.com/tixiaoshan/BGK_traversability_mapping.git
cd ..
catkin_make

Run

  1. Run the launch file:
roslaunch bgk_traversability_mapping run.launch
  1. Play existing bag files in this repo:
rosbag play *.bag --clock

Notes: you need to proive the TF transformation between /map and /base_link.

Cite

Thank you for citing our paper if you use any of this code:

@inproceedings{traversability2018,
  title={Bayesian Generalized Kernel Inference for Terrain Traversability Mapping},
  author={Shan, Tixiao and Doherty, Kevin and Wang, Jinkun and Englot, Brendan},
  booktitle={In Proceedings of the 2nd Annual Conference on Robot Learning},
  year={2018}
}