ROS Index
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gaden_preprocessing package from gaden repogaden_common gaden_environment gaden_filament_simulator gaden_msgs gaden_player gaden_preprocessing simulated_anemometer simulated_gas_sensor simulated_tdlas test_env gaden_decompress |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | LGPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | GADEN: A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments |
| Checkout URI | https://github.com/mapirlab/gaden.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2025-04-09 |
| Dev Status | UNKNOWN |
| 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
Additional Links
Maintainers
- pepe
Authors
GADEN_preprocessing
This pkg preprocess the data contained in the test_env pkg to make it usable by GADEN simulator.
The data in the test_env pkg (a set of test scenarios) only contains the 3D CAD models of the environment and a set of 3D clouds of wind vectors generated from CFD, and exported to CSV file. This is to make this repository as light as possible. In order to simulate gas dispersal, GADEN requires this raw data to be converted to a more “robotics” format, that is, into 3D cubic grids, and this is what the GADEN_preprocessing pkg is about. In a nutshell, the pkg is in charge of:
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Generating 3D and 2D occupancy gridmaps from the provided CAD models. These occupancy gridmaps are used both by GADEN for estimating the gas dispersal, as well as for the nav2 stack to allow autonomous navigation (localization, path planning, etc.).
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Parsing the 3D cloud of wind vectors comming from CFD, into a 3D cubic grid of wind vectors, in accordance with the 3D occupancy gridmap.
For more information, refer to the GADEN_tutorial, section 4.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| rclcpp | |
| gaden_common | |
| tf2 | |
| std_msgs | |
| coppelia_remote_api | |
| ament_cmake |