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https://github.com/toshikinakamura0412/raycast_mapping_ros

ROS implementation of Ray Casting Update Algorithm for 2D Mapping
https://github.com/toshikinakamura0412/raycast_mapping_ros

cpp local-map local-mapping mapping raycast raycasting robotics ros ros-noetic

Last synced: about 2 months ago
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ROS implementation of Ray Casting Update Algorithm for 2D Mapping

Host: GitHub
URL: https://github.com/toshikinakamura0412/raycast_mapping_ros
Owner: ToshikiNakamura0412
License: mit
Created: 2024-05-03T10:17:06.000Z (8 months ago)
Default Branch: master
Last Pushed: 2024-06-22T17:58:55.000Z (7 months ago)
Last Synced: 2024-06-24T00:07:59.471Z (7 months ago)
Topics: cpp, local-map, local-mapping, mapping, raycast, raycasting, robotics, ros, ros-noetic
Language: C++
Homepage:
Size: 41 KB
Stars: 0
Watchers: 1
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

# raycast_mapping_ros

![Build Status](https://github.com/ToshikiNakamura0412/raycast_mapping_ros/workflows/build/badge.svg)
[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

ROS implementation of Ray Casting Update Algorithm for 2D Mapping

## Environment
- Ubuntu 20.04
- ROS Noetic

## Install and Build
```
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/raycast_mapping_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build raycast_mapping_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended
```

## How to use
```
roslaunch raycast_mapping_ros raycast_mapping.launch
```

## Running the demo
```
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/scan_to_pcl_ros.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release

# run demo
export TURTLEBOT3_MODEL=burger
roslaunch raycast_mapping_ros test.launch
```

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

## Nodes
### raycast_mapping
#### Published Topics
- /local_map (`nav_msgs/OccupancyGrid`)
- Local map data

#### Subscribed Topics
- /cloud (`sensor_msgs/PointCloud2`)
- Input point cloud data

#### Parameters
- ~\/frame_id (string, default: `base_footprint`):

The frame id of the local map
- ~\/map_reso (float, default: `0.05` [m/cell]):

The resolution of the map
- ~\/map_size (float, default: `10.0` [m]):

The size of the map
- ~\/yaw_reso (float, default: `0.087` [rad]):

The resolution of the yaw angle for ray casting

## References
- https://myenigma.hatenablog.com/entry/20140714/1405343128