jkk-research / pointcloud_to_grid

ROS 1 and ROS 2 node that converts sensor_msgs/PointCloud2 LIDAR data to nav_msgs/OccupancyGrid 2D map data based on intensity and / or height. 🤖

pointcloud_to_grid ROS 2 package

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

If you would like to use ROS 1 version (melodic, noetic), please go to ROS1 branch.

Build

cd ~/ros2_ws/src 
git clone https://github.com/jkk-research/pointcloud_to_grid -b ros2
cd ~/ros2_ws/ 
colcon build --packages-select pointcloud_to_grid --symlink-install

Don't foget to source ~/ros2_ws/install/setup.bash.

Features

• Few dependencies (ROS 2 and PCL mainly) ROS installation
• Simple as possible
• Fast

Conventions & definitions

Getting started

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

cd ~/Downloads

Download a sample rosbag (~3,3 GB) (TODO: update to ROS 2 `mcap``):

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:

ros2 bag play -l ~/Downloads/leaf-2021-04-23-campus.bag

Start the algorithm in a new terminal :

ros2 launch pointcloud_to_grid demo.launch.py

Alternatively, start with subscribing to /my_custom_cloud_topic:

ros2 launch pointcloud_to_grid demo.launch.py topic:=my_custom_cloud_topic

Start the visualization in a new terminal :

ros2 launch pointcloud_to_grid rviz.launch.py

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

Remarks

In VS code it is advised to add the following to include path:

${workspaceFolder}/**
/opt/ros/humble/include/**
/usr/include/pcl-1.12/**
/usr/include/eigen3/**

If you are not sure where your header files are use e.g.:

find /usr/include -name point_cloud.h
find /usr/include -name crop_box.h

Cite & paper

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