/fogg

Fast Occupancy Grid Generation Using a Kinect

Primary LanguageC++

fogg

Fast Occupancy Grid Generation Using a Kinect

fogg

Installation

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

Running

A launch file is provided for running fogg using a Kinect.

roslaunch fogg fogg.launch

Output

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.