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cyberdog_occmap package from cyberdog_occmap repo

cyberdog_occmap

Package Summary

Tags No category tags.
Version 0.0.0
License Apache License, Version 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/miroboticslab/cyberdog_occmap.git
VCS Type git
VCS Version rolling
Last Updated 2023-08-15
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

occ map with mivins

Additional Links

No additional links.

Maintainers

  • root

Authors

No additional authors.

cyberdog_occmap

1. 简介

cyberdog_occmap基于输入的位置和姿态实时生成相应栅格地图,基于查表更新和Protobuf等技术,实现了非常轻量化的实时栅格建图算法。

2. 程序依赖

cyberdog_occmap在Ubuntu 20.04ROS2 galactic上进行了测试,其他环境运行可能会遇到一些依赖问题。

ROS2依赖

cyberdog_occmap是一个ROS2程序,依赖geometry_msgs, nav_msgs, sensor_msgs, std_msgs, message_filters, std_srvs等ROS2相关库,采用以下方式进行安装:

sudo apt install ros-galactic-geometry-msgs ros-galactic-nav2-msgs ros-galactic-sensor-msgs ros-galactic-std-msgs ros-galactic-message-filters ros-galactic-std-srvs -y

Boost

cyberdog_occmap依赖Boost处理文件的读取、写入和删除,基于以下方式进行安装:

sudo apt install libboost-dev

Eigen3

cyberdog_occmap依赖Eigen进行矩阵运算,采用以下方式安装:

sudo apt install libeigen3-dev

OpenCV4

cyberdog_occmap依赖OpenCV对发布后的栅格地图进行去噪和美化处理,使用ROS2自带的OpenCV版本即可。

Yaml-cpp

cyberdog_occmap依赖Yaml-cpp读取参数文件,采用以下方式安装即可:

sudo apt install libyaml-cpp-dev

Ceres

cyberdog_occmap依赖Ceres对位置姿态进行二次优化,要求Ceres为源码编译安装,版本1.14.0,基于Ceres官方提供方式进行编译安装Ceres-install

Protobuf

cyberdog_occmap依赖Protobuf对栅格地图的子图进行序列化存储,从而大大节省了内存和处理器的使用。要求Protobuf为源码编译安装,版本为3.19.2

OCCMAP

cyberdog_occmap是在occmap基础之上编写的ROS2接口库,为方便代码和接口分离,此程序已将occmap放置在3rdparty内,无需开发者手动编译。但开发者如需更改occmap程序,需要在更改后对occmap依照以下方式进行重新编译安装,即可使得更改内容生效。

cd 3rdparty/occmap
bash install.sh

其他依赖

cyberdog_occmap依赖cyberdog_visions_interfacescyberdog_common来与其他cyberdog程序进行交互,开发者如需单独使用cyberdog_occmap,需要对接口进行重写。

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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