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3D velodyne pointcloud to occuppancy grid

asked 2016-11-10 09:31:58 -0600

Kailegh gravatar image

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 a 2D pointcloud or a laser scan, using http://wiki.ros.org/pointcloud_to_las... or http://wiki.ros.org/velodyne_height_map However I dont know how to convert that to an occupancy grid. Thanks a lot!

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answered 2016-12-07 09:08:53 -0600

paulbovbel gravatar image

To pipe laserscan or pointcloud data into an 'occupancy grid' style data structure, you can use the costmap_2d library.

http://wiki.ros.org/costmap_2d

You can run a standalone costmap as a node (costmap_2d_node), and configure the costmap's layers (particularly obstacle layers) to take in sensor data.

Users typically use costmap_2d as part of the navigation stack, which integrates the costmaps together with planners to give an end-to-end-ish solution for 2d navigation.

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Asked: 2016-11-10 09:31:58 -0600

Seen: 2,589 times

Last updated: Dec 07 '16