EasyNav Gridmap Stack
Loading...
Searching...
No Matches
easynav_gridmap_stack

This stack is part of the Easy Navigation (EasyNav) project developed by the Intelligent Robotics Lab. It is composed of the gridmap_maps_builder package and the gridmap_maps_manager package (currently under construction) for handling elevation maps.

Installation

Clone the repository into your ROS 2 workspace:

cd ~/ros2_ws/src
git clone https://github.com/EasyNavigation/easynav_gridmap_stack.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --packages-select easynav_gridmap_maps_builder

Usage

Source your workspace:

source ~/ros2_ws/install/setup.bash

Run the lifecycle node:

ros2 run easynav_gridmap_maps_builder gridmap_maps_builder_main

Parameters

Name Type Default Value Description
sensor_topic string "points" Topic name to subscribe for point cloud data.
downsample_resolution double 1.0 Resolution used for downsampling the point cloud.
perception_default_frame string "map" Default frame ID for the output grid map.

Test

  1. Create a parameter YAML file (e.g., params.yaml) with the following content:
pointcloud_maps_builder_node:
ros__parameters:
use_sim_time: true
sensors: [map]
downsample_resolution: 0.1
perception_default_frame: map
map:
topic: map
type: sensor_msgs/msg/PointCloud2
group: points
  1. Run the node using the parameter file with this command: ``` ros2 run easynav_gridmap_maps_builder gridmap_maps_builder_main \ –ros-args –params-file src/easynav_gridmap_stack/params.yaml