Skip to content
A ROS package for converting OccupancyGrid/Costmap2D to 2D distance map.
C++ CMake C
Branch: devel
Clone or download
Latest commit 55f3406 Aug 14, 2019
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
distance_map 0.1.0 Aug 2, 2019
distance_map_core 0.1.0 Aug 2, 2019
distance_map_deadreck 0.1.0 Aug 2, 2019
distance_map_msgs 0.1.0 Aug 2, 2019
distance_map_node 0.1.0 Aug 2, 2019
distance_map_opencv 0.1.0 Aug 2, 2019
distance_map_rviz 0.1.0 Aug 2, 2019
distance_map_tools 0.1.0 Aug 2, 2019
.travis.yml add travis config Jul 8, 2019
LICENSE project upload Jul 3, 2018
README.md Update README.md Aug 14, 2019

README.md

distance_map

A package for converting OccupancyGrid/Costmap2D to 2D distance map.


Package Summary

The distance_map package provides a 2D Distance Map class (see Distance Transform) together with the means to generate it, convert it, send it and visualize it.

Kinetic Melodic
kinetic melodic

Quick StartQuick ExamplePluginsContributing


Quick Start

Binaries

$ apt-get install ros-melodic-distance-map

From source

$ git clone https://github.com/artivis/distance_map.git
$ catkin build distance_map

Quick Example

Once all distance_map packages are built, one can run an example as follows,

roslaunch distance_map_node example.launch

This command will :

  • start a map_server providing a simple map
  • start the distance_map node
  • start rviz
  • start an interactive marker to introspect the distance_map

You should see the following window,

alt text

Plugins

Available plugins:

Under development plugins:

  • None at this time.

Contributing

distance_map is developed according to Vincent Driessen's Gitflow Workflow. This means,

  • the master branch is for releases only.
  • development is done on feature branches.
  • finished features are integrated via PullRequests into the branch devel.

For a PullRequest to get merged into devel, it must pass

  • Review by one of the maintainers.
    • Are the changes introduced in scope of distance_map?
    • Is the documentation updated?
    • Are enough reasonable tests added?
    • Will these changes break the API?
    • Do the new changes follow the current style of naming?
  • Compile / Test / Run on all target environments.

Credits

This work originated at PAL Robotics, with the participation of Sai Kishor Kothakota

You can’t perform that action at this time.