map_to_pointcloud

概要

このパッケージは二次元格子地図を平面のポイントクラウドへ変換します。 点群の位置は各セルに相当し、密度は地図の解像度依存です。

インストール方法

1．ROSワークスペースのディレクトリに移動し、リポジトリをクローン

cd ~/{ROSワークスペースディレクトリ}/src/
git clone -b "2023年度成果物" https://github.com/jadsys/map_to_pointcloud.git

2．Buildを行う

cd map_to_pointcloud
catkin build --this

X. 依存関係の解決

依存パッケージは以下の方法でインストール可能です。

# rosdepのインストール
sudo apt install python3-rosdep
sudo rosdep init # 過去に実行済みの場合は実行不要
rosdep update # 過去に実行済みの場合は実行不要

cd ~/{ROSワークスペースディレクトリ}/src
rosdep install -i --from-paths map_to_pointcloud

ライセンス

BSD 3-Clause License

Copyright (c) 2023, Japan Advanced System,Ltd. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

• Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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使用ライブラリ関係

pcl

BSD License: Point Cloud Library (PCL) - www.pointclouds.org Copyright (c) 2009-2012, Willow Garage, Inc. Copyright (c) 2012-, Open Perception, Inc.