This repository contains the packages responsible for performing realtime global and local traversability mapping and can be very easily integrated with any SLAM system.
Traversability Map generated with the 3D PointCloud and ORB-SLAM 3 | Gazebo world of the map |
Setup the Gazebo simulation from this repository Gazebo sim humble or Gazebo sim jazzy
Once you are inside the gz-sim-environment docker, run the following:
cd other_ws/src
git clone https://github.com/suchetanrs/traversability_mapping
cd .. && rosdep update && rosdep install --from-paths src --ignore-src -r -y --skip-keys sophus
colcon build --symlink-install
source install/setup.bash
Method 1: Launch the shell file if you are using the Gazebo sim humble or Gazebo sim jazzy repository
cd ~/other_ws/src/traversability_mapping/
sudo chmod +x launch_example.sh && ./launch_example.sh
To launch the global traversability mapping, run ros2 launch traversability_mapping_ros global_gt_traversability_mapping.launch.py
To launch the local traversability mapping, run
ros2 launch traversability_mapping_ros local_traversability_mapping.launch.py
You can now visualize the gridmap and the occupancy map via RViz. To launch rviz run
ros2 launch traversability_mapping_ros rviz.launch.py
Setup the Gazebo simulation from this repository Gazebo sim humble
Important note: Before setting up the below repository. Make sure you checkout on the traversability_integration
branch. This will setup the ORB-SLAM3 wrapper along with the traversability mapping integrations during the image build.
Setup the ORB-SLAM3 Wrapper and the traversability system from this repository ORB-SLAM3
To integrate this library with your own SLAM system via CPP, follow this Wiki
This work was done at the PNX Lab at ISAE-SUPAERO, Toulouse, France.