#Pf grid mapping code#

The source code is released under a BSD 3-Clause license. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. Parsing of mathematical expressions allows to flexibly setup powerful computations such as thresholding, normal vectors, smoothening, variance, inpainting, and matrix kernel convolutions. Filters: The grid_map_filters provides are range of filters to process grid maps as a sequence of filters.Additionally, the grid_map_visualization package helps to visualize grid maps as point clouds, occupancy grids, grid cells etc. Visualizations: The grid_map_rviz_plugin renders grid maps as 3d surface plots (height maps) in RViz.OpenCV interface: Grid maps can be seamlessly converted from and to OpenCV image types to make use of the tools provided by OpenCV.Conversion packages provide compatibility with costmap_2d, PCL, and OctoMap data types.

ROS interface: Grid maps can be directly converted to and from ROS message types such as PointCloud2, OccupancyGrid, GridCells, and our custom GridMap message.

For example, iterator functions for rectangular, circular, polygonal regions and lines are implemented.

Convenience functions: Several helper methods allow for convenient and memory safe cell data access.

Users can apply available Eigen algorithms directly to the map data for versatile and efficient data manipulation.

Based on Eigen: Grid map data is stored as Eigen data types.

to follow the robot) without copying data in memory. This allows for non-destructive shifting of the map's position (e.g.

Efficient map re-positioning: Data storage is implemented as two-dimensional circular buffer.

Multi-layered: Developed for universal 2.5-dimensional grid mapping with support for any number of layers.It is used in the Robot-Centric Elevation Mapping package designed for rough terrain navigation. It is designed for mobile robotic mapping to store data such as elevation, variance, color, friction coefficient, foothold quality, surface normal, traversability etc. This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers.

Pf grid mapping