How to create a heat map?

asked 2020-05-16 07:20:19 -0600

Py gravatar image

I am looking for a method to overlay some sensor data on a map generated with GMapping to create a spatial heat map. Initially, I am likely to be testing this by publishing random numbers to a topic that a heat map generator node will subscribe to and create the heat map from when combined with robot X and Y coordinates.

Ultimately, I'm looking to be able to manually move a robot around and visualise how this heat map is building up according to sensor data (i.e. the random number) at the robots position.

Any ideas would be much appreciated!

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Are you asking how to build the map, which it sounds like you already know how to do, or are you asking how to visualize it, which may be more complicated?

billy gravatar image billy  ( 2020-05-16 14:35:27 -0600 )edit

I know how to build the map with GMapping. I'd like to be able to to visualise it with sensor data overlaid at the sensors position on the robot. For example, if I had a temperature sensor mounted to the front of the robot, I would like to generate a heat map of temperature sensor readings as well as the 2D map used for navigation.

Py gravatar image Py  ( 2020-05-17 04:21:13 -0600 )edit

Hello Py, I'm working on the same idea right now building a heat map using a uhf sensor , did you succeed on building the heat-map ? and if so how did you manage to do it? thank you for your response

yassines gravatar image yassines  ( 2021-02-16 06:20:38 -0600 )edit

I'm still look at the best way to achieve this. Surely it must be possible to colour code some shape placed at a given pose in RViz? Have you tried this? I'm not sure how to go about it.

Py gravatar image Py  ( 2021-03-11 02:05:02 -0600 )edit

Hey everyone, did any of you figure it out? I am currently working on the same idea and im trying to find a guide to follow

melsagh gravatar image melsagh  ( 2021-11-07 18:33:37 -0600 )edit

For me, I ended up publishing markers at the robot position in a map with colours determined by the sensor value.

Py gravatar image Py  ( 2021-12-21 02:55:01 -0600 )edit