This ROS2 package produces traversability cost maps based on point cloud statistics and ground robot characteristics. It is built upon the library Grid Map to allow proper visualization of the map.
Here are the dependencies:
- ROS2 This package was tested on Galactic and Humble
- Grid Map A C++ library to manage two-dimensional grid maps
- Eigen a linear algebra library
Once these are all installed, use the following commands to build:
cd ~/your_ws/src
git clone https://github.com/ISAE-PNX/Traversability.git
cd ..
colcon build --symlink-install --packages-select traversability_gridmap
Then launch the program with:
ros2 launch traversability_gridmap traversability_launch.py
This package simply subscribes to point clouds to generate a traversability costmap. Edit the launch file to set the point cloud topic. If the point clouds are in an ego-centric fra
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me, you may use the local mode by setting "global_mapping":False. If the point clouds are in a global frame, don't hesitate to set "global_mapping":True to perform global traversability mapping.