This framework manages maps with multiple layers. Currently supported are occupancy and semantic layers.
A paper based on this work was submitted to ICRA 2020. You can find the paper here.
hypermap_msgs: Messages used by the framework.
hypermap_rviz_plugin: Provides a plugin to display semantic layers and hypermaps in rviz.
semmapping: Generate semantic maps from RGB-D camera images.
This package uses libzip and png++. On Ubuntu, use
sudo apt install libzip-dev libpng++-devto install the required libraries.
You can load a saved Hypermap by providing it as argument. Alternatively, ROS parameters can be used (see parameters section).
rosrun hypermap map_server map.hmapSave a map from the command-line interface as follows:
save map.hmapThe following private parameters are available:
- load_map: Boolean parameter; load a compressed hypermap file if true.
- load_map_config: Boolean parameter; load a hypermap config file if true.
- file: Specify the file to load.