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Combining Multiple Occupancy Grids [closed]

I have 2 ROS2 topics which will be publishing occupancy grids. I want to combine them into 1 so that I can use it in NAV2. If possible, how can it be done? Or would it be easier for NAV2 to take both ...
Jiawei Liao's user avatar
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1 answer
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Storing occupancy grids locally for later use

I would like to know if there is any standard way of storing occupancy grids and other mapping formats for usage in later simulations or runs of the system. I have explored using ros bags and just ...
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ROS 2 Occupancy and Obstacle Mapping that uses robot footprint?

I am investigating obstacle and occupancy mapping using the seven IR intensity sensors of the Create3 robot. (The acceptable range of these sensors is from 0.150 to 0.4 meters.) Using slam-toolbox ...
Cyclical Obsessive's user avatar
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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 ...
Mubashir's user avatar
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120 views

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 ...
Miriam Mathew's user avatar
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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 ...
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1 answer
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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 ...
skpro19's user avatar
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1 answer
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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: ...
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1 answer
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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. ...
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1 answer
3 views

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 ...
user avatar
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1 answer
5 views

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 ...
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1 answer
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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 ...
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1 answer
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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 ...
Myzhar's user avatar
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1 answer
5 views

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 ...
user avatar
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1 answer
14 views

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 ...
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1 answer
70 views

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 ...
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1 answer
11 views

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 ...
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1 answer
52 views

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 ...
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1 answer
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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 ...
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1 answer
5 views

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 ...
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2 answers
122 views

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. ...
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1 answer
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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 ...
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1 answer
9 views

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 ...
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1 answer
8 views

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 ...
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1 answer
31 views

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 ...
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1 answer
107 views

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://...
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1 answer
3 views

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 ...
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1 answer
82 views

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 ...
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1 answer
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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 ...
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1 answer
13 views

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 ...
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1 answer
2 views

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 ...
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1 answer
24 views

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 ...
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1 answer
11 views

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: ...
DLu's user avatar
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2 answers
9 views

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 "...
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2 answers
12 views

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 ...
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1 answer
7 views

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 ...
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1 answer
24 views

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/...
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1 answer
10 views

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 ...
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0 votes
1 answer
15 views

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 ...
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3 answers
22 views

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 ...
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0 votes
1 answer
6 views

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 "...
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0 votes
1 answer
115 views

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 ...
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0 votes
1 answer
50 views

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,...
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1 answer
12 views

How Costmap works

I am trying to understand how Costmaps Works. I have Costmap with params: costmap params ...
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1 answer
26 views

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 ...
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1 answer
4 views

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/...
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1 answer
4 views

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. ...
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1 answer
5 views

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 ...
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0 votes
1 answer
26 views

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 ...
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1 answer
8 views

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 ...
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