occupancy_grid_map_generator

This repository contains occupancy grid amp generator with lidar pointcloud. If you need it, you can modify the parameters and use them simply.

Dependencies

• Ubuntu 20.04
• ROS2(foxy)

ros2 launch occupancy_grid_map_generator occupancy_grid_map_generator.launch.py

Parameter

remappings=[('/filtered_points', points_topic)],
        parameters=[
            {"min_x_": -20.0},
            {"max_x_": 20.0},
            {"min_y_": -20.0},
            {"max_y_": 20.0},
            {"grid_size_": 0.3},
            {"origin_orientation_x": 0.0},
            {"origin_orientation_y": 0.0},
            {"origin_orientation_z": 0.0},
            {"origin_orientation_w": 1.0},
            {"safety_radius_": 1.0},
            {"boat_position_x_": 0.0},
            {"boat_position_y_": 0.0},
            {"boat_radius_": 2.0},
            {"boat_width_": 0.8},
            {"boat_height_": 2.0}
        ]