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This repository contains the packages responsible for performing global traversability mapping which can be very easily integrated with any SLAM system.

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suchetanrs/traversability_mapping

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A Global Traversability Mapping Library easily integratable with any SLAM System.

This repository contains the packages responsible for performing realtime global and local traversability mapping and can be very easily integrated with any SLAM system.

Image 1 Image 2
Traversability Map generated with the 3D PointCloud and ORB-SLAM 3 Gazebo world of the map

Build status

Humble Build Jazzy Build

Running the library independent of SLAM and with Ground truth poses.

Setup the Gazebo simulation from this repository Gazebo sim humble or Gazebo sim jazzy

Building with colcon (recommended)

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

Launching the mapping

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

Method 2: Launch manually

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

Running the library with ORB-SLAM3 and a Gazebo simulation.

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

Other information:

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.

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This repository contains the packages responsible for performing global traversability mapping which can be very easily integrated with any SLAM system.

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