Boustrophedon cellular decomposition on a map in ROS

asked 2020-01-26 05:19:18 -0600

ros-noob gravatar image

Hi, I'm trying to decompose a map I have into cells. Illustrated below:

The one above is the map with yellow being the free space. And the one below is decomposed into cells. I have visualised this using pyplot that is why the colours are like this.

I'm aware that the cell division isn't exactly how the paper explains it but this serves my purpose. However, if you have any comments on it, I'd love to hear them.

What I'm planning to do is that I'll use map_server to get occupancy_grid and visualise it in RvIz. But I do not know how to represent the cells in Rviz. Is there any in-built displays I can use?

I know there are a few open-source implementation for this like this one. But I don't quite understand them.

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Have you seen #q191432 and #q12914 (older, situation may have changed seeing #q191432)?

gvdhoorn gravatar imagegvdhoorn ( 2020-01-26 07:21:36 -0600 )edit

For the visualization for the cells I have used a Marker with type = Marker.LINE_STRIP.

Humpelstilzchen gravatar imageHumpelstilzchen ( 2020-01-28 04:09:06 -0600 )edit

The boustrophedon_server you linked is missing a client btw which makes it "hard to understand". Basically you send a service request with your map converted into a polygon. But this implementation currently does not seem to support inner cells (obstacles).

Humpelstilzchen gravatar imageHumpelstilzchen ( 2020-01-28 04:33:26 -0600 )edit