road_surface_recognition pkg

This ROS pkg provides the method making occupancy grid map that express lawn place data as occupancy.

Images

For example, if you use the map (Fig. 1), you can make the following map (Fig. 2).

Preparation

Please install laser_geometry pkg in your catkin_ws/src/ because this pkg uses laser_geometry pkg function. https://github.com/ros-perception/laser_geometry.git

How to use

1. $ roslaunch road_surface_recognition build_reflection_mapping.launch

2. $ rosrun map_server map_server ~/catkin_ws/src/road_surface_recognition/test/map.yaml

3. $ unzip ~/catkin_ws/src/road_surface_recognition/test/bagFile.zip  
   $ rosbag play ~/catkin_ws/src/road_surface_recognition/test/bagFile.bag

Run following command when bagfile is finished.

4. $ rosservice call /up_map 

If you can see following message on your terminal,
Published an OccupancyGrid data of which topic name is occupancyGrid,
finally, run following command.

5. $ rosrun map_server map_saver -f mapFileName map:=lawnOccupancyGrid

You can get occupancy grid map named mapFileName on your terminal having done command.