Grid Map Tests
This package is meant to start researching about the grid_map library from ETHZ and elevation mapping packages and discover how to integrate them in the NIx navigation stack.
Current State: Receiving a elevation map inside a grid map, trying to pass some filter to it and create a costmap from that. Filters are working but costmap it's created in a bad way, trying to solve it.
Currently I'm using raposa bags such as:
https://www.dropbox.com/s/qd6hn0a0r1tlwwo/2020-01-03-20-32-03_undense.bag?dl=1
You can see what's happen by launching the included launch
Dependencies
A lot :D. No, not much, you need to download elevation mapping packages, kindr, kindr_ros, eigen, grid_map library, costmap 2d from ros. Costmap 2d, grid map and eigen can be installed by apt:
sudo apt-get install ros-melodic-grid-map ros-melodic-costmap-2d libeigen3-dev
I'm currently using it under ros melodic, to use it under ros kinetic you should change the way the costmap wrapper object is initialize, beause it uses tf instead of tf2.