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F1/10 Occupancy Grid


Design

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..

Layers

  1. Environment: Should be directly from whatever map is served using map_server
  2. Static Obstacles: Should be objects not from the map, but rarely moves
  3. Dynamic Obstacles: Should be objects moving, humans, other cars, etc.

Cell values

Visualization

Conversion to 2D image for World Models experiment


ROS API

gridmap node

Subscribed Topics

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.

Published Topics

env_layer(nav_msgs/OccupancyGrid)

static_layer(nav_msgs/OccupancyGrid)

dynamic_layer(nav_msgs/OccupancyGrid)

Parameters

gridmap_viz node

Subscribed Topics

env_layer(nav_msgs/OccupancyGrid):

static_layer(nav_msgs/OccupancyGrid):

dynamic_layer(nav_msgs/OccupancyGrid):

Published Topics

cost_map(visualization_msgs/Marker): color representation of the costmap with the three layers

Parameters

gridmap_conversion node

Subscribed Topics

Published Topics

Parameters

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