Fast Occupancy Grid Generation Using a Kinect
This installation has been tested using Ubuntu 14.04 running ROS Indigo. First you need to install the Freenect libraries used for accessing the Kinect
sudo apt-get install ros-indigo-freenect-*
Then you can download and build the fogg
ROS package
cd $CATKIN_WS/src
git clone https://github.com/mit-drl/fogg.git
cd ..
catkin_make
A launch file is provided for running fogg
using a Kinect.
roslaunch fogg fogg.launch
fogg
publishes to the /fogg_clusters
and /fogg_grid
topics. The
/fogg_clusters
topic publishes a sensor_msgs/PointCloud
message
containing points assigned to various clusters using the channels
to differentiate between them. The fogg_grid
topic publishes
nav_msgs/OccupancyGrid
indicating the occupied space as perceived by the
sensor.