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rse_occupancy_grid_mapping package from rse_prob_robotics reporse_common_utils rse_gaussian_filters rse_lidar_odometry rse_map_models rse_motion_models rse_observation_models rse_occupancy_grid_mapping rse_sensor_models |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS 2 implementation of robotics algorithms based on the Probabilistic Robotics book |
| Checkout URI | https://github.com/carlos-argueta/rse_prob_robotics.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-12 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robotics kalman-filter ros2 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- carlos
Authors
No additional authors.
Occupancy Grid Mapping
This package contains a companion code for the article Occupancy Grid Mapping with The Binary Bayes Filter in ROS 2 which introduces the basic occupancy grid mapping algorithm introduced in section 9.2 of the Probabilistic Robotics book.
Article:
Occupancy Grid Mapping with The Binary Bayes Filter in ROS 2
Installation Instructions
To install the necessary dependencies and clone/build the package, follow these steps:
# Install some dependency
sudo apt install python3-pykdl
# Clone and build the package
# Change the ROS 2 workspace accordingly
cd ros2_ws/src
git clone https://github.com/carlos-argueta/rse_prob_robotics.git
cd ..
colcon build --symlink-install
You have two options to run the mapping node. Option one is to use the pre-recorded data, option two is to run a simulation of the Turtlebot 3 yourself. Depending of your choice, follow one of the set of instructions below.
Option 1: Downloading ROS2 bag
Download the ROS2 bag
wget -O occupancy_grid_mapping_tb3.zip "https://www.dropbox.com/scl/fi/anc0jq4vwhpe78q0ajg4v/occupancy_grid_mapping_tb3.zip?rlkey=bdzpd5uowonfruutk8u4iyzkt&st=9xjq6dr9&dl=1"
Unzip the bag
unzip occupancy_grid_mapping_tb3.zip
Option 2: Simulation installation
Install Gazebo Classic ROS2 tools
sudo apt install ros-humble-gazebo-ros-pkgs
Install Turtlebot 3 tools
sudo apt install ros-humble-turtlebot3-msgs
sudo apt install ros-humble-turtlebot3
Install Turtlebot 3 simulation packages
mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws/src/
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/turtlebot3_ws && colcon build --symlink-install
Run the code:
Option 1: With ROS2 bag
To run the project, you’ll need to open two terminals. Follow the steps below:
Terminal 1
# Launch mapping
source ~/ros2_ws/install/setup.bash
ros2 run rse_occupancy_grid_mapping occupancy_grid_mapping
Terminal 2
# Navigate to where you extracted the ROS 2 bag and then run it with:
ros2 bag play rosbag2_2025_01_13-13_30_54 --clock
Option 2: With simulation:
To run the project, you’ll need to open three terminals. Follow the steps below:
Terminal 1
# Launch mapping
source ~/ros2_ws/install/setup.bash
ros2 run rse_occupancy_grid_mapping occupancy_grid_mapping
Terminal 2
# Launch simulation
export TURTLEBOT3_MODEL=waffle
source ~/turtlebot3_ws/install/setup.bash
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
It may take a while to load the simulation the first time you run this. Rerun the launch command if it gets stuck for too long or fails.
Terminal 3
# Launch teleop
export TURTLEBOT3_MODEL=waffle
source ~/turtlebot3_ws/install/setup.bash
ros2 run turtlebot3_teleop teleop_keyboard
Use the teleop tool to remote control the Turtlebot 3 and build the map.
Demo Video
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
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 |
System Dependencies
| Name |
|---|
| python3-pytest |
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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