grid_map_cv provides conversions of grid maps from and to OpenCV image types.grid_map_costmap_2d provides conversions of grid maps from costmap_2d map types.grid_map_visualization contains a node written to convert GridMap messages to other ROS message types for example for visualization in RViz.grid_map_rviz_plugin is an RViz plugin to visualize grid maps as 3d surface plots (height maps).grid_map_msgs holds the ROS message and service definitions around the message type.grid_map_filters builds on the ROS Filters package to process grid maps as a sequence of filters.grid_map_demos contains several nodes for demonstration purposes.It provides the interfaces to convert grid maps from and to several ROS message types. grid_map_ros is the main package for ROS dependent projects using the grid map library.This package is implemented without ROS dependencies. It provides the GridMap class and several helper classes such as the iterators. grid_map_core implements the algorithms of the grid map library.grid_map is the meta-package for the grid map library.
This repository consists of following packages: In Robot Operating System (ROS) – The Complete Reference (Volume 1), A. "A Universal Grid Map Library: Implementation and Use Case for Rough Terrain Navigation", If you use this work in an academic context, please cite the following publication: This work is conducted as part of ANYmal Research, a community to advance legged robotics. This projected was initially developed at ETH Zurich (Autonomous Systems Lab & Robotic Systems Lab). Maintainer: Maximilian Wulf, Magnus Gärtner, contributions by: Simone Arreghini, Tanja Baumann, Jeff Delmerico, Remo Diethelm, Perry Franklin, Magnus Gärtner, Ruben Grandia, Edo Jelavic, Dominic Jud, Ralph Kaestner, Philipp Krüsi, Alex Millane, Daniel Stonier, Elena Stumm, Martin Wermelinger, Christos Zalidis
OCCUPANCY GRID MAPPING CODE
The source code is released under a BSD 3-Clause license. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. Parsing of mathematical expressions allows to flexibly setup powerful computations such as thresholding, normal vectors, smoothening, variance, inpainting, and matrix kernel convolutions.
Visualizations: The grid_map_rviz_plugin renders grid maps as 3d surface plots (height maps) in RViz.OpenCV interface: Grid maps can be seamlessly converted from and to OpenCV image types to make use of the tools provided by OpenCV.Conversion packages provide compatibility with costmap_2d, PCL, and OctoMap data types. ROS interface: Grid maps can be directly converted to and from ROS message types such as PointCloud2, OccupancyGrid, GridCells, and our custom GridMap message.For example, iterator functions for rectangular, circular, polygonal regions and lines are implemented. Convenience functions: Several helper methods allow for convenient and memory safe cell data access.Users can apply available Eigen algorithms directly to the map data for versatile and efficient data manipulation. Based on Eigen: Grid map data is stored as Eigen data types.to follow the robot) without copying data in memory. This allows for non-destructive shifting of the map's position (e.g.
It is designed for mobile robotic mapping to store data such as elevation, variance, color, friction coefficient, foothold quality, surface normal, traversability etc. This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers.
0 kommentar(er)
