AirOllie / OGMD-ROS

Create ROS package

catkin_create_pkg ogmd rospy std_msgs sensor_msgs

Copy the files from the repository to the package

Make sure that models and best_acc_ckpt.pth are in the same directory as the test_map_quality.py file.

Add execution permission to the script

chmod +x test_map_quality.py

Build the package

cd ~/catkin_ws
catkin_make

Make sure roscore is running

roscore

Run map quality detection node

Before running the code, either publish the occupancy grid map to the topic /occupancy_map or save it to occupancy_map.pgm in the same directory as the test_map_quality.py file, then run

rosrun ogmd test_map_quality.py

the detected map quality, either Normal or Abnormal, will be published to /map_quality topic