This library contains a plugin-based mapping framework which allows to build 2D occupancy gridmaps, 2D height maps, 2D and 3D NDT maps and OctoMaps. The code is open-source (BSD License) and has been tested under Ubuntu 16.04 with ROS Kinetic. Please note that this project is part of ongoing research and that there will be changes in the future.
This package consists of the following subfolders:
- maps contains the map types this framework supports.
- mapper contains the mapper plugins that can be used to build the maps. Each mapper is associated with a single map type.
- publisher contains the publishers that can be used to publish the above maps.
- nodes contains a ROS node that starts the mapping process. There is also a service available for saving the maps, which calls the associated serializations. An exemplary launch file is provided in the launch folder.
Please build with -DCMAKE_BUILD_TYPE=RelWithDebInfo or -DCMAKE_BUILD_TYPE=Release.
This library depends on the following packages of our research group:
- cslibs_gridmaps
- cslibs_indexed_storage
- cslibs_math
- cslibs_ndt
- cslibs_plugins
- cslibs_time
- cslibs_utility
For usage, have a look at the provided example launch file.
To get the required bag file, go to the bag folder and execute the provided script with ./wget.sh.