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map_visualizer package from map_visualizer repo

map_visualizer

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mucahitayhan/map_visualizer.git
VCS Type git
VCS Version main
Last Updated 2023-08-03
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

TODO: Package description

Additional Links

No additional links.

Maintainers

  • otonom

Authors

No additional authors.

map_visualizer package

:dart: About

This package provides the visualize the map in ROS2 using MarkerArray and Occupancygrid map types. There is two node osm_visualizer node and occupancy_pub node in this package.

:rocket: Technologies

The following tools were used in this project:

  • ROS Tested on ROS2 Foxy distro.

:white_check_mark: Requirements

Before starting :checkered_flag:, you need to have ROS2(Foxy) and install some ros2 packages.

sudo rosdep init

rosdep update

rosdep install --from-paths src -y --ignore-src

sudo apt-get install ros-<distro>-lanelet2

E.g: sudo apt-get install ros-foxy-lanelet2

1 - osm_visualizer node

:sparkles: Features

osm_visualizer node visualizes the .osm(OpenStreetMap) file into RViz MarkerArray.

:checkered_flag: How to Run

ros2 run map_visualizer osm_visualizer --ros-args -p map_path:=path/to/map.osm

or ros2 launch map_visualizer osm_visualizer.launch.xml you need to change map path

or ros2 launch map_visualizer osm_visualizer.launch.py you need to change map path

Subscribed Topics

  • None

Published Topics

  • /hd_map (visualization_msgs/msg/marker_array) : visualization messages for RViz
  • /array (std_msgs/msg/float64_multi_array) : the left and right bounds points of the map lanelet layers for occupancy_pub node

Parameters

Name Type Description Default value
map_path std::string lanelet2 map path change on launch file
enable_inc_path_points bool flag to increment points of left and rigth boundry’s linestrings true
interval std::string interval to increment left and right boundry points with linear interpolation for occupancygrid map 0.5

2 - occupancy_pub node

:sparkles: Features

occupancy_pub node turn the osm data provided by osm_visualizer node into nav_msgs/msg/occupancy_grid.

:checkered_flag: How to Run

ros2 run map_visualizer occupancy_pub

Subscribed Topics

  • /array (std_msgs/msg/float64_multi_array) : the left and right bounds points of the map lanelet layers
  • /initialpose (geometry_msgs/msg/pose_with_covariance_stamped) : RViz initial pose message to calculate initial location on grid
  • /goal_pose (geometry_msgs/msg/pose_stamped) : RViz goal pose message to calculate goal location on grid

Published Topics

  • /occupancy_grid (nav_msgs/msg/occupancy_grid) : occupancy grid messages for RViz
  • /obsx (std_msgs/msg/float64_multi_array) : x index of obstacles on grid for A* package
  • /obsy (std_msgs/msg/float64_multi_array) : y index of obstacles on grid for A* package
  • /gridsize (std_msgs/msg/float64_multi_array) : gridsize information message for A* package

Parameters

  • None

:memo: License

This project is under license from MIT. For more details, see the LICENSE file.

 

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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.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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