distance_map

A package for converting OccupancyGrid/Costmap2D to 2D distance map.

Package Summary

The distance_map package provides a 2D Distance Map class (see Distance Transform) together with the means to generate it, convert it, send it and visualize it.

Maintainer status: maintained
Maintainer: Jeremie Deray deray.jeremie@gmail.com
Author: Jeremie Deray deray.jeremie@gmail.com
License: Apache-2.0
Bug / feature tracker: https://github.com/artivis/distance_map/issues
Source: git https://github.com/artivis/distance_map.git (branch: master)

Kinetic	Melodic

Quick Start • Quick Example • Plugins • Contributing

Quick Start

Binaries

$ apt-get install ros-melodic-distance-map

From source

$ git clone https://github.com/artivis/distance_map.git
$ catkin build distance_map

Quick Example

Once all distance_map packages are built, one can run an example as follows,

roslaunch distance_map_node example.launch

This command will :

start a map_server providing a simple map
start the distance_map node
start rviz
start an interactive marker to introspect the distance_map

You should see the following window,

Plugins

Available plugins:

distance_map_opencv A plugin for OpenCV distance map
distance_map_deadreck A plugin for the Dead Reckoning Distance Map

Under development plugins:

None at this time.

Contributing

distance_map is developed according to Vincent Driessen's Gitflow Workflow. This means,

the master branch is for releases only.
development is done on feature branches.
finished features are integrated via PullRequests into the branch devel.

For a PullRequest to get merged into devel, it must pass

Review by one of the maintainers.
- Are the changes introduced in scope of distance_map?
- Is the documentation updated?
- Are enough reasonable tests added?
- Will these changes break the API?
- Do the new changes follow the current style of naming?
Compile / Test / Run on all target environments.

Credits

This work originated at PAL Robotics, with the participation of Sai Kishor Kothakota