pointcloud_to_grid ROS package

This package converts sensor_msgs/PointCloud2 LIDAR data to nav_msgs/OccupancyGrid 2D map data based on intensity and / or height.

Build

cd ~/catkin_ws/src 
git clone https://github.com/jkk-research/pointcloud_to_grid  -b ros1
catkin build pointcloud_to_grid

Don't foget to source ~/catkin_ws/devel/setup.bash. Note: catkin tools is recommended, but catkin_make also works.

Features

• Few dependencies (ROS and PCL mainly) ROS installation
• Simple as possible
• Fast

Conventions & definitions

Getting started

Issue the following commands to start roscore, download and play sample data, and start the algorithm with visualization.

In a new terminal start roscore:

roscore

In a new terminal go to your bag folder (e.g. ~/Downloads):

cd ~/Downloads

Download a sample rosbag (~3,3 GB) :

wget https://laesze-my.sharepoint.com/:u:/g/personal/herno_o365_sze_hu/EYl_ahy5pgBBhNHt5ZkiBikBoy_j_x95E96rDtTsxueB_A?download=1 -O leaf-2021-04-23-campus.bag

Play rosbag:

rosbag play -l ~/Downloads/leaf-2021-04-23-campus.bag

Start the algorithm in a new terminal :

roslaunch pointcloud_to_grid demo.launch

Start the visualization in a new terminal :

roslaunch pointcloud_to_grid rviz.launch

Related solutions

• github.com/ANYbotics/grid_map - This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers.
• github.com/306327680/PointCloud-to-grid-map - A similar solution but instead PointCloud2 it uses PointCloud

Cite & paper

If you use any of this code please consider citing TODO: