https://github.com/leggedrobotics/rsl_panoptic_mapping
https://github.com/leggedrobotics/rsl_panoptic_mapping
Last synced: about 1 year ago
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- Host: GitHub
- URL: https://github.com/leggedrobotics/rsl_panoptic_mapping
- Owner: leggedrobotics
- Created: 2024-03-04T12:08:40.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2025-02-22T13:58:54.000Z (over 1 year ago)
- Last Synced: 2025-04-06T20:46:35.346Z (about 1 year ago)
- Language: C++
- Size: 4.53 MB
- Stars: 7
- Watchers: 13
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# RSL Panoptic Mapping
RSL 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.
## Features
- **Semantic Layer Generation:** Generates semantic layers from dynamic and static point clouds.
- **Dynamic Mapping and Tracking:** Separates point clouds into labeled groups for real-time tracking.
- **Traversability Cost Layer:** Assigns navigation costs based on semantic information.
- **Occupancy Map:** Reflects the current state of the environment with both static and dynamic objects.
- **Semantic 2D Map Integration:** Enhances environmental understanding using tools like GridMap.
- **Filtering and Fusion:** Applies filters to improve map accuracy.
- **ROS Integration:** Fully integrated with ROS.
Please check the subpackages README.md for more information
## Installation
Ensure ROS is installed. This package depends on several external ROS packages and libraries.
### Dependencies
1. **GridMap**
- For semantic 2D map generation.
```bash
git clone https://github.com/ANYbotics/grid_map.git
```
2. **Ground Plane Removal**
- Essential for dynamic object segmentation.
```bash
git clone git@github.com:leggedrobotics/tree_detection.git
```
3. **FKIE Message Filters**
```bash
sudo apt install ros-noetic-fkie-message-filters
```
## Usage
1. Launch your sensors (camera and LiDAR) and publish the robot state.
2. Launch your segmentation node or use [rsl_panoptic](git@github.com:leggedrobotics/rsl_panoptic.git).
3. Launch the dynamic mapping node:
```bash
roslaunch dynamic_mapping dynamic_mapping.launch
```
4. Launch the Panoptic Gridmap:
```bash
roslaunch panoptic_gridmap semantic_map.launch
```