Ros Occupancy Grids
Hello guys,
Me and a Partner of mine are working on a Turtlebot Project at the Karlsruhe College in Germany.
Our projects aims to make the Turtlebot decide whether it can, for example, drive under a table, or not. We thought that the Turtlebot would anyhow measure the height of the obstacle in front of him and then decide (it has a XTion Pro Live Camera). During this, the Turtlebot doesn't have to move (rotation may be allowed).
Our idea was to record a Pointcloud (we already tried out Rtabmap, which did pretty good) and export the data (.pcd / .ply) for further use. We didn't know how to proceed after this, since none of us is a real computer expert (we both study Mechatronics). We also thought we would have to include some libraries into a Cpp file (like the Pcl Library), but we also found the Octomap library and Gridmap (whose description seem pretty useful to us).
We're kinda lost. If you know any detailed way or package to build that function, please let us know !
