{"id":22339050,"url":"https://github.com/dddmobilerobot/dddmr_perception_3d","last_synced_at":"2025-07-30T00:31:08.952Z","repository":{"id":249422155,"uuid":"831377759","full_name":"dddmobilerobot/dddmr_perception_3d","owner":"dddmobilerobot","description":"Perception 3D is the graph-based framework for 3d mobile robot, it is the substitution of costmap_2d","archived":false,"fork":false,"pushed_at":"2024-10-16T06:34:27.000Z","size":1625,"stargazers_count":7,"open_issues_count":0,"forks_count":1,"subscribers_count":2,"default_branch":"main","last_synced_at":"2025-04-05T21:51:17.312Z","etag":null,"topics":["costmap-2d","depth-camera","graph","graph-algorithms","lidar","lidar-point-cloud","perception","point-cloud","pointcloud","robot-perception","ros2"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/dddmobilerobot.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-07-20T11:28:31.000Z","updated_at":"2025-03-10T07:55:38.000Z","dependencies_parsed_at":"2024-07-20T18:03:18.330Z","dependency_job_id":"c0ac6272-c92f-4b0b-b3b7-e72db0ca5105","html_url":"https://github.com/dddmobilerobot/dddmr_perception_3d","commit_stats":null,"previous_names":["dddmobilerobot/dddmr_perception_3d"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/dddmobilerobot/dddmr_perception_3d","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/dddmobilerobot%2Fdddmr_perception_3d","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/dddmobilerobot%2Fdddmr_perception_3d/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/dddmobilerobot%2Fdddmr_perception_3d/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/dddmobilerobot%2Fdddmr_perception_3d/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/dddmobilerobot","download_url":"https://codeload.github.com/dddmobilerobot/dddmr_perception_3d/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/dddmobilerobot%2Fdddmr_perception_3d/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":267785726,"owners_count":24144119,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-07-29T02:00:12.549Z","response_time":2574,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["costmap-2d","depth-camera","graph","graph-algorithms","lidar","lidar-point-cloud","perception","point-cloud","pointcloud","robot-perception","ros2"],"created_at":"2024-12-04T07:06:40.026Z","updated_at":"2025-07-30T00:31:08.690Z","avatar_url":"https://github.com/dddmobilerobot.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# dddmr_perception_3d\nPerception 3D is graph-based framework allowing user to develope applications for mobile robots, such as path planning, marking/clearing obstacles, creating no-enter/speed limit layer.\nYou can reference:\n- [dddmr_global_planner](https://github.com/dddmobilerobot/dddmr_global_planner)\n- [dddmr_local_planner](https://github.com/dddmobilerobot/dddmr_local_planner)\n\u003ctable\u003e\n  \u003ctr width=\"100%\"\u003e\n    \u003ctd width=\"33%\"\u003e\u003cimg src=\"https://github.com/dddmobilerobot/dddmr_documentation_materials/blob/main/perception_3d/perception_3d_global_plan.gif\"/\u003eGlobal planning in 3D map\u003c/td\u003e\n    \u003ctd width=\"33%\"\u003e\u003cimg src=\"https://github.com/dddmobilerobot/dddmr_documentation_materials/blob/main/perception_3d/marking_tracking_clearing.gif\"/\u003eMarking/Tracking/Clearing\u003c/td\u003e\n    \u003ctd width=\"33%\"\u003e\u003cimg src=\"https://github.com/dddmobilerobot/dddmr_documentation_materials/blob/main/perception_3d/speed_limit_zone.png\"/\u003eSpeed-limit/no-enter zone\u003c/td\u003e\n  \u003c/tr\u003e\n\u003c/table\u003e \n\nPerception 3D:\n- Sensor support:\n  - [x] Multilayer spinning lidar (Velodyne/Ouster/Leishen)\n  - [x] Depth camera (Realsense/oak)\n  - [x] Scanning Lidar (Livox mid-360/Unitree 4D LiDAR L1)\n- Zone feature support:\n  - [x] Static layer\n  - [x] Speed limit layer\n  - [x] No enter layer\n\n## Multilayer Lidar Demo (Leishen Lidar C16)\n\n\u003cp align='center'\u003e\n    \u003cimg src=\"https://github.com/dddmobilerobot/dddmr_documentation_materials/blob/main/perception_3d/multilayer_lidar_demo.gif\" width=\"640\" height=\"400\"/\u003e\n\u003c/p\u003e\n\n\u003cdetails\u003e\u003csummary\u003e \u003cb\u003eClick me to see tutorial\u003c/b\u003e \u003c/summary\u003e\n  \n### 1. Create docker image\nThe package runs in the docker, so we need to build the image first. We support both x64 (tested in intel NUC) and arm64 (tested in nvidia jetson jpack5.1.3/6).\n```\ncd ~\ngit clone https://github.com/dddmobilerobot/dddmr_navigation.git\ncd ~/dddmr_navigation \u0026\u0026 git submodule init \u0026\u0026 git submodule update\ncd ~/dddmr_navigation/dddmr_docker/docker_file \u0026\u0026 ./build.bash\n```\n### 2. Download essential files\nROS2 bag that contains multilayer lidar from Leishen C16 will be download to run the demo.\n```\ncd ~/dddmr_navigation/src/dddmr_perception_3d \u0026\u0026 ./download_files.bash\n```\n### 3. Run demo\n#### Create a docker container\n\u003e [!NOTE]\n\u003e The following command will create an interactive docker container using the image we built. We will launch the demo manually in the container.\n```\ncd ~/dddmr_navigation/dddmr_docker \u0026\u0026 ./run_demo.bash\n```\n##### Launch everything in the container\nThe bag file will be auto-played after 3 seconds when launching.\n```\ncd ~/dddmr_navigation \u0026\u0026 source /opt/ros/humble/setup.bash \u0026\u0026 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release\nsource install/setup.bash\nros2 launch perception_3d multilayer_spinning_lidar_3d_ros_launch.py\n```\n\u003c/details\u003e\n\n## Multiple Depth Cameras Demo (Realsense D455)\n\n\u003cp align='center'\u003e\n    \u003cimg src=\"https://github.com/dddmobilerobot/dddmr_documentation_materials/blob/main/perception_3d/multi_depth_camera_demo.gif\" width=\"640\" height=\"400\"/\u003e\n\u003c/p\u003e\n\n\u003cdetails\u003e\u003csummary\u003e \u003cb\u003eClick me to see tutorial\u003c/b\u003e \u003c/summary\u003e\n  \n### 1. Create docker image\nThe package runs in the docker, so we need to build the image first. We support both x64 (tested in intel NUC) and arm64 (tested in nvidia jetson jpack5.1.3/6).\n```\ncd ~\ngit clone https://github.com/dddmobilerobot/dddmr_navigation.git\ncd ~/dddmr_navigation \u0026\u0026 git submodule init \u0026\u0026 git submodule update\ncd ~/dddmr_navigation/dddmr_docker/docker_file \u0026\u0026 ./build.bash\n```\n### 2. Download essential files\nROS2 bag that contains depth images from two cameras will be download to run the demo.\n```\ncd ~/dddmr_navigation/src/dddmr_perception_3d \u0026\u0026 ./download_files.bash\n```\n### 3. Run demo\n#### Create a docker container\n\u003e [!NOTE]\n\u003e The following command will create an interactive docker container using the image we built. We will launch the demo manually in the container.\n```\ncd ~/dddmr_navigation/dddmr_docker \u0026\u0026 ./run_demo.bash\n```\n##### Launch everything in the container\nThe bag file will be auto-played after 3 seconds when launching.\n```\ncd ~/dddmr_navigation \u0026\u0026 source /opt/ros/humble/setup.bash \u0026\u0026 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release\nsource install/setup.bash\nros2 launch perception_3d multi_depth_camera_3d_ros_launch.py\n```\n\u003c/details\u003e\n\n## Scanning Lidar Demo (Unitree G4)\n\n\u003cp align='center'\u003e\n    \u003cimg src=\"https://github.com/dddmobilerobot/dddmr_documentation_materials/blob/main/perception_3d/scanning_lidar_demo.gif\" width=\"640\" height=\"400\"/\u003e\n\u003c/p\u003e\n\n\u003cdetails\u003e\u003csummary\u003e \u003cb\u003eClick me to see tutorial\u003c/b\u003e \u003c/summary\u003e\n  \n### 1. Create docker image\nThe package runs in the docker, so we need to build the image first. We support both x64 (tested in intel NUC) and arm64 (tested in nvidia jetson jpack5.1.3/6).\n```\ncd ~\ngit clone https://github.com/dddmobilerobot/dddmr_navigation.git\ncd ~/dddmr_navigation \u0026\u0026 git submodule init \u0026\u0026 git submodule update\ncd ~/dddmr_navigation/dddmr_docker/docker_file \u0026\u0026 ./build.bash\n```\n### 2. Download essential files\nROS2 bag that contains depth images from two cameras will be download to run the demo.\n```\ncd ~/dddmr_navigation/src/dddmr_perception_3d \u0026\u0026 ./download_files.bash\n```\n### 3. Run demo\n#### Create a docker container\n\u003e [!NOTE]\n\u003e The following command will create an interactive docker container using the image we built. We will launch the demo manually in the container.\n```\ncd ~/dddmr_navigation/dddmr_docker \u0026\u0026 ./run_demo.bash\n```\n##### Launch everything in the container\nThe bag file will be auto-played after 3 seconds when launching.\n```\ncd ~/dddmr_navigation \u0026\u0026 source /opt/ros/humble/setup.bash \u0026\u0026 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release\nsource install/setup.bash\nros2 launch perception_3d scanning_lidar_3d_ros_launch.py\n```\n\u003c/details\u003e","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdddmobilerobot%2Fdddmr_perception_3d","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fdddmobilerobot%2Fdddmr_perception_3d","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdddmobilerobot%2Fdddmr_perception_3d/lists"}