Questions tagged [occupancy-grid]
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submap_slices and last_frame_id is empty | Rviz2 not opening
I am trying to use cartographer on theros2 launch turtlebot3_gazebo turtlebot3_world.launch.py but when i run ...
- 3
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54
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Mapping for maze solving robot [closed]
I'm trying to implement a program to find the shortest path for a maze solving robot competition but I can't understand how to do the mapping.
I tried Breadth first Search algorithm that takes in a 2D ...
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1
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11
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get pose(x,y) of any unoccupied cell from 2D occupancy grid
I wish to be able to calculate the pose(x,y) of any unoccupied grid in the occupancy grid from the occupancyGrid message type here . I wish to use the map ...
distro
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2
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Unable to output the costmap_2d occupancy grid array
Here's how my code looks -
costmap_2d::Costmap2DROS *global_costmap = new costmap_2d::Costmap2DROS("global_costmap", buffer);
I have specified the ...
- 314
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5
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Getting a compile error including rosgraph_msgs/Log
Greetings,
I am trying to use rosgraph_msgs/Log to subscribe to rosout and when I include the header file I get the following compile error:
...
Rhapsodus
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1
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Change occupancy grid axis
Hi!
I have lots of information been published to the XZ axis. Now, I'm publishing a 2D occupancy grid, but it is in the XY axis.
It is possible to change it to XZ as well?
Thanks in advance.
...
mirella melo
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1
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How to get a real-time map using the laser tf and laser scans
Hello, I have written code based on the algorithm for Occupancy grid mapping presented in Probabilistic Robotics by Sebastian Thrun, Wolfram Burgard and Dieter Fox.
However, I have ran into some ...
Robotics_1920
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What Range of Costs Does ROS Navigation Support?
I'm looking to make custom costmap2d layer, where each cell in the occupancy grid would be a range of values rather than a binary OBSTACLE/NO OBSTACLE. For instance, if the robot was trapped between ...
cmcheung
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6
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Draw an OccupancyGrid?
Are there any ROS tools, or recommended third-party tools, for drawing a 2D grid that's output as a nav_msgs/OccupancyGrid? I could find an online grid editor that outputs to coordinates, then convert ...
seanarm
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Navigation - how to use my own Local and Global costmaps?
Hi,
I have my own node that provides Global Map and Local Map as nav_msgs::OccupancyGrid messages.
I would like to use them in the navigation stack and I cannot figure out how to do it.
Have someone ...
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Global Costmap Updating Mysteriously
Hello everyone! I'm experiencing some weird behavior while using costmaps in move_base which I hope someone can shed some light on.
Thanks in advance to anyone who ...
Gonçalo S. Martins
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4
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Not able to visualize Octomap in RViz
I am publishing an octomap from a .bt file with octomap_server such that:
$ rosrun octomap_server octomap_server_node btFile.bt
But when I try to visualize the ...
thepirate16
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9
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costmap_2d: how to publish local costmap to topic
I'm running costmap_2d with PointCloud2 feed from a 3D lidar as the only source. Lidar points are preliminary filtered, the ground is mostly segmented out. It is used as a singular source for the ...
teonik
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4
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Rosbridgelb: Received a message without op
I'm using ROSBridgelb to publish "OccupancyGrid Message" from Unity to ROS. However I'm always getting the "Received a message without op" error. I made sure that there is no ...
AbbasSidaoui
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8
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How to clear the traces of the dynamic obstacle in a costmap?
Hi,
I am trying to get an instantaneous occupancy grid by using laser scanner (in stageros) and get the locations and dimensions of the obstacles. With the help of costmap_2d package, I am able to ...
vishnu
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Hi, I am trying to write a code, which uses nav_msgs's OccupancyGrid
Hi, I am trying to write a code, which uses nav_msgs's OccupancyGrid, to visualize the grid map like a potential field.
I'm ...
Shu
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Having issues with the ray tracer ROS package
Hi,
I'm using the following ROS package to do ray tracing on a occupancy grid map:
https://github.com/clearpathrobotics/occupancy_grid_utils
but I'm having the following issue as you can see in the ...
andrestoga
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Occupancy Grid Map generation using ROS
Hi,
I am trying to build occupancy grid map in ros using laser data but have no idea from where to start. I dont want to use completely self built package as I am not allowed to use gmapping or hecor. ...
ZainMehdi
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5
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3D velodyne pointcloud to occuppancy grid
Hi, I intend to use this package http://wiki.ros.org/amcl or one similir to initially localize my self in a prebuilt map. I wnat to convert my 3D map to an occupancy grid, I know how to convert it to ...
Kailegh
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3
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Noisy Occupancy Map with Zed Camera
Hi, I am trying to create an occupancy grid using a ZED stereo camera along with rtabmap_ros. My results are very noisy and I am wondering if the problem is with the ZED camera, or with my rtabmap_ros ...
shoemakerlevy9
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How to use the occupancy grid in the global planner?
Hey everybody,
I am trying to create a path planner, that plans reliable paths in SLAM maps.
Therefore I don't want to use the costmap, which doesn't work with probabilities anymore but the occupancy ...
Earthgrazer
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8
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converting between costmap_2d::Costmap2D and nav_msgs::OccupancyGrid
Is there an established or convenient way to convert between these two? I don't see any methods that suggest this is possible.
The manual approach of course is to create a message and populate it by ...
petermitrano
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16
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convert image to occupancy grid?
how to convert image taken from camera to occupancy grid map ?
what i did till now is to :
1- i made this photo by paint just a white area with black boarders to let the robot moves within it
http://...
g-emad
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How to change the topic name for publishing occupancy grid using map_server?
Intent : Using mapstitch_hector to get the position of the bot as well as stitching maps.
Problem : Two sets of data are required for mapstitch_hector - /world and /align - in OccupancyGrid format
...
Avonic
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What are x and y in map_msgs/OccupancyGridUpdate?
I'm trying to do some things with occupancy grids, and I cannot figure what the x and y attributes refer to. Anyone know?
Thanks,
David
Originally posted by davelkan on ROS Answers with karma: 71 on ...
davelkan
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3
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Transform between two occupancy grids
Hi!
Is there a node available that subscribes to 2 occupancy grids (one is static the other one is created by hector_mapping), aligns them and publishes a transform between the two? I tried with ...
quentin
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4
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Occupancy grid mapping for beginner
Hi,
I am a beginner in the field of localization and mapping for mobile robots and I am a little confused right now.
What am I basically trying to do is to implement some occupancy grid mapping ...
l4ncelot
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2
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occupancy grid implementation?
what is the most commonly used package in ROS for occupancy grid-based SLAM? I see slam_gmapping, octomap, voxel_grid
the jossum project also gives a very good demo
Originally posted by teddyyyy123 ...
teddyyyy123
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7
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How to increase the cell size in occupancy grid properly?
Hi,
I want to change the cell size in the occupancy grid. I changed the resolution from 0.1 to 0.5.
But after this, my exploration algorithm fails at first step only. Any idea why this is happening?
I ...
robo_explorer
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Displaying Big Maps in RViz
I have a large map that I'm trying to display in RViz. However, it appears highly downsampled. The debugging is shown here:
...
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Theorycrafting: "Virtual" walls for husky navigation
Hello ROS community!
I just got into ROS through a project I'm participating in at my University. My job is to navigate the husky given a set of breadcrumbs (waypoints) and a zone (like a "...
mattiasbäx
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2
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6
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GMapping OccupancyGrid Coordinates
Hi.
I'm having a little trouble representing the correct data from an OccupancyGrid created by GMapping.
My setup is a single robot in a STDR simulator with one laser.
I'm trying to read the pixel ...
ROSNoob
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4
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Get only the current map from GMapping
Hi,
I'm new in ROS and I want to do a DATMO application with laser scan.
For the first step of this application, I only need to get the current map created by GMapping. Is that possible?
Could you ...
sadek
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8
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How to do OccupancyGrid map compression?
Hello fellow devs,
I am running move_base on a robot which is connected via WLAN to a laptop running rviz for visualization. The problem is that map updates (nav_msgs/OccupancyGrid and nav_msgs/...
Huibuh
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How do I find OccupancyGrid message data, and how do I use it with QImage?
Hello, I'm a real amateur and just started not long ago, and I'm currently using LIDAR and an aerial vehicle. Basically I'm stucked at this situation where I don't know how am I gonna find out the ...
jeremyethankoh
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7
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OccupancyGridUpdate.h file cannot found
When I launch catkin_make, I got this error "erreur fatale: map_msgs/OccupancyGridUpdate.h : Any file of this kind"
However in map-msgs/src the file OccupancyGridUpdate.h is here.
So what is ...
Moda
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3
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2
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Conversion between world and occupancy grid msg
Hi all,
I have a map of the environment my robot has to move in. The map is stored in the standard way as an occupancy grid
map and served via map_server service. I want to implement a PRM on top of ...
Federico
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4
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Robot Navigation Within a Corridor
Hello,
I'm trying to add a "virtual" corridor along the waypoints generated by the global planner (waypoints are in the middle of the virtual corridor), so the robot never leaves this "...
ROSCMBOT
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27
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how to correctly convert OccupancyGrid format message to image?
Hello,all
I want to convert OccupancyGrid format message to 'mono8' formt image. Actually,I subscribed ...
zsbhaha
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1
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7
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How can I publish an int8 array as a nav_msgs/OccupancyGrid?
Ultimately I would like to publish an Eigen matrix as a nav_msgs/OccupancyGrid. So I thought it would be a good idea to try first if I can publish an arbitrary int8 array as a map.
To my understanding,...
Luke_ROS
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3
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How Costmap works
I am trying to understand how Costmaps Works. I have Costmap with params:
costmap params
...
BP
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11
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How to use global_costmap/costmap_updates for updating global costmap
I've already search through the Internet and still get no clue of how to update the global cost map in navigation node, hydro.
I've create a new package and subscribe to global costmap generated from ...
noizpgt
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2
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Costmap subscribe problem in hydro
Hello. I'm now working on navigation stack in hydro. I want to use a global costmap to implement a new algorithm for path planning. So I created a node and subscribe to /move_base/global_costmap/...
noizpgt
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4
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map_msgs/GetMapROI
what does ROI mean? Can someone link me to something that points out how this is used? I see it has an OccupancyGrid in it. I'm looking for a little direction. Any help would be appreciated. Thanks.
...
david.c.liebman
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Can you publish only obstacles from a costmap
I'm wondering if it is possible to publish only the cells (points) that are occupied in a given costmap_2d object using the newer layered costmap approach in Hydro? This was how the nav_msgs/GridCells ...
Matt_Derry
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10
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How to create OccupancyGrid from Laser scan data and Pose (odometry)?
I am working on a laser scan matching algorithm and I have got the pose of the robot during laser scans. How do I generate a map with this data? I do not want to use gmapping. I just want to use laser ...
balakumar-s
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3
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Maps, is it better to publish on a topic or use a service and have other nodes request a map?
Hello all,
So I have a question regarding the publishing and subscribing to maps.
I have a simple mapping node which creates an nav_msgs/OccupancyGrid map of a robots environment built using LIDAR ...
jgilsenan
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Get cone from occupancy grid
Hello everyone,
Is there any built in method to get the range data in a cone-format from a nav_msgs/OccupancyGrid message?
I am using the Octomap package with the ...
Josch
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¿occupancy grid from a laser network system?
Hi,
I'm looking for a way to create a map of a environment in which there are statics lasers and mobile robot with lasers. I found occupancy_grid_utils libraries and costmap_2d package and I think ...
gustavo.velascoh
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12
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Difference between Costmap2D and OccupancyGrid not clear
Hello
It is not clear to me what the difference between costmap2d and OccupancyGrid is.
From what I learned in Tutorials, OccupancyGrid will be formed using gmapping and it will have three values: 0 ...
Anis