raycast_mapping_ros

ROS implementation of Ray Casting Update Algorithm for 2D Mapping

Environment

• Ubuntu 20.04
• ROS Noetic

Install and Build

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/raycast_mapping_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic     # Install dependencies
catkin build raycast_mapping_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended

How to use

roslaunch raycast_mapping_ros raycast_mapping.launch

Running the demo

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/scan_to_pcl_ros.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release

# run demo
export TURTLEBOT3_MODEL=burger
roslaunch raycast_mapping_ros test.launch

Node I/O

Nodes

raycast_mapping

Published Topics

• /local_map (nav_msgs/OccupancyGrid)
  • Local map data

Subscribed Topics

• /cloud (sensor_msgs/PointCloud2)
  • Input point cloud data

Parameters

• ~<name>/frame_id (string, default: base_footprint):
  The frame id of the local map
• ~<name>/map_reso (float, default: 0.05 [m/cell]):
  The resolution of the map
• ~<name>/map_size (float, default: 10.0 [m]):
  The size of the map
• ~<name>/yaw_reso (float, default: 0.087 [rad]):
  The resolution of the yaw angle for ray casting

References

• https://myenigma.hatenablog.com/entry/20140714/1405343128