This ROS package includes several nodes. The gridmap node should incorporate a multi-layer Occupancy grid for the F1/10 stack. The gridmap_viz node should incorporate the visualization of the gridmap in RVIZ. The gridmap_conversion node should handle all conversion to 2d color image etc..
- Environment: Should be directly from whatever map is served using map_server
- Static Obstacles: Should be objects not from the map, but rarely moves
- Dynamic Obstacles: Should be objects moving, humans, other cars, etc.
map(nav_msgs/OccupancyGrid): This node subscribes to the map published by the map_server in order to create the environment layer of the Occupancy Grid.
map_metadata(nav_msgs/MapMetaData): This node subscribes to the map metadata for the map information including resolution, width, height, and origin of the map.
laserscan(sensor_msgs/LaserScan): The laserscan obtained by the lidar.
env_layer(nav_msgs/OccupancyGrid)
static_layer(nav_msgs/OccupancyGrid)
dynamic_layer(nav_msgs/OccupancyGrid)
env_layer(nav_msgs/OccupancyGrid):
static_layer(nav_msgs/OccupancyGrid):
dynamic_layer(nav_msgs/OccupancyGrid):
cost_map(visualization_msgs/Marker): color representation of the costmap with the three layers