This ROS package can be used to generate a 2D occupancy map based on depth images, for example from Intel(R) Realsense(TM) D435 (or D415), and poses, for example from Intel(R) Realsense(TM) T265. Internally, it uses a 3D representation to transform point clouds into a common reference frame, using T265 poses, and to accumulate information over time. The accumulated measurements are mapped to a probability of a field of beeing free (0) to occupied (100). This output can be used for robot navigation.

How to

create catkin workspace:

source /opt/ros/kinetic/setup.bash`
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin build

checkout package:

cd src
git clone <URL_TO_REPOSITORY>

build:

cd ..
catkin build occupancy

run:

source devel/setup.bash
roslaunch occupancy occupancy_live_rviz.launch

Expected output (RViz)

Appendix

Mechanical mount T265 + D435

https://github.com/IntelRealSense/realsense-ros/blob/occupancy-mapping/realsense2_camera/meshes/mount_t265_d435.stl

Corresponding extrinsics: https://github.com/IntelRealSense/realsense-ros/blob/occupancy-mapping/realsense2_camera/urdf/mount_t265_d435.urdf.xacro