{"id":19855140,"url":"https://github.com/leggedrobotics/rsl_panoptic_mapping","last_synced_at":"2025-05-02T01:30:44.588Z","repository":{"id":228992553,"uuid":"766935945","full_name":"leggedrobotics/rsl_panoptic_mapping","owner":"leggedrobotics","description":null,"archived":false,"fork":false,"pushed_at":"2025-02-22T13:58:54.000Z","size":4752,"stargazers_count":7,"open_issues_count":0,"forks_count":0,"subscribers_count":13,"default_branch":"main","last_synced_at":"2025-04-06T20:46:35.346Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/leggedrobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"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":"2024-03-04T12:08:40.000Z","updated_at":"2025-04-04T04:20:29.000Z","dependencies_parsed_at":"2025-02-14T15:37:45.680Z","dependency_job_id":null,"html_url":"https://github.com/leggedrobotics/rsl_panoptic_mapping","commit_stats":null,"previous_names":["leggedrobotics/rsl_panoptic_mapping"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_panoptic_mapping","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_panoptic_mapping/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_panoptic_mapping/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_panoptic_mapping/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leggedrobotics","download_url":"https://codeload.github.com/leggedrobotics/rsl_panoptic_mapping/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":251969263,"owners_count":21673183,"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","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":[],"created_at":"2024-11-12T14:11:48.886Z","updated_at":"2025-05-02T01:30:39.573Z","avatar_url":"https://github.com/leggedrobotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# RSL Panoptic Mapping\n\n![overview.png](docs%2Foverview.png)\n\nRSL Panoptic Mapping is a ROS package for advanced environment understanding and navigation. It uses semantic segmentation and dynamic object tracking to create detailed panoptic maps, distinguishing between movable and static objects.\n\n## Features\n\n- **Semantic Layer Generation:** Generates semantic layers from dynamic and static point clouds.\n- **Dynamic Mapping and Tracking:** Separates point clouds into labeled groups for real-time tracking.\n- **Traversability Cost Layer:** Assigns navigation costs based on semantic information.\n- **Occupancy Map:** Reflects the current state of the environment with both static and dynamic objects.\n- **Semantic 2D Map Integration:** Enhances environmental understanding using tools like GridMap.\n- **Filtering and Fusion:** Applies filters to improve map accuracy.\n- **ROS Integration:** Fully integrated with ROS.\n\nPlease check the subpackages README.md for more information\n\n## Installation\n\nEnsure ROS is installed. This package depends on several external ROS packages and libraries.\n\n### Dependencies\n\n1. **GridMap**\n    - For semantic 2D map generation.\n    ```bash\n    git clone https://github.com/ANYbotics/grid_map.git\n    ```\n2. **Ground Plane Removal**\n    - Essential for dynamic object segmentation.\n    ```bash\n    git clone git@github.com:leggedrobotics/tree_detection.git\n    ```\n3. **FKIE Message Filters**\n    ```bash\n    sudo apt install ros-noetic-fkie-message-filters\n    ```\n\n## Usage\n\n1. Launch your sensors (camera and LiDAR) and publish the robot state.\n2. Launch your segmentation node or use [rsl_panoptic](git@github.com:leggedrobotics/rsl_panoptic.git).\n3. Launch the dynamic mapping node:\n    ```bash\n    roslaunch dynamic_mapping dynamic_mapping.launch\n    ```\n4. Launch the Panoptic Gridmap:\n    ```bash\n    roslaunch panoptic_gridmap semantic_map.launch\n    ```","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Frsl_panoptic_mapping","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleggedrobotics%2Frsl_panoptic_mapping","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Frsl_panoptic_mapping/lists"}