https://github.com/toshikinakamura0412/likelihood_field_gridmap_ros

ROS implementation of Likelihood Field Grid Map
https://github.com/toshikinakamura0412/likelihood_field_gridmap_ros

cpp gaussian gridmap likelihood mapping mit-license robotics ros ros-noetic

Last synced: 2 months ago
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ROS implementation of Likelihood Field Grid Map

• Host: GitHub
• URL: https://github.com/toshikinakamura0412/likelihood_field_gridmap_ros
• Owner: ToshikiNakamura0412
• License: mit
• Created: 2024-06-29T13:17:54.000Z (11 months ago)
• Default Branch: master
• Last Pushed: 2024-06-29T13:34:41.000Z (11 months ago)
• Last Synced: 2025-01-21T16:45:42.162Z (4 months ago)
• Topics: cpp, gaussian, gridmap, likelihood, mapping, mit-license, robotics, ros, ros-noetic
• Language: C++
• Homepage:
• Size: 38.1 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# likelihood_field_gridmap_ros

![Build Status](https://github.com/ToshikiNakamura0412/likelihood_field_gridmap_ros/workflows/build/badge.svg)

[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

ROS implementation of Likelihood Field Grid Map



  

  



## Environment

- Ubuntu 20.04

- ROS Noetic

## Install and Build

```

# clone repository

cd /path/to/your/catkin_ws/src

git clone https://github.com/ToshikiNakamura0412/likelihood_field_gridmap_ros.git

# build

cd /path/to/your/catkin_ws

rosdep install -riy --from-paths src --rosdistro noetic              # Install dependencies

catkin build likelihood_field_gridmap_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended

```

## Running the demo

```

roslaunch likelihood_field_gridmap_ros test.launch

```

## Node I/O

![Node I/O](images/node_io.png)

## Nodes

### likelihood_field_gridmap

#### Published Topics

- /map/likelihood_field (`nav_msgs/OccupancyGrid`):


  - The gridmap with likelihood field

#### Parameters

- ~\/hz (int, default: `1` [Hz]):


  The rate of publishing the likelihood field

- ~\/likelihood_range (float, default: `1.0` [m]):


  The range of the likelihood field