likelihood_field_gridmap_ros

ROS implementation of Likelihood Field Grid Map

Environment

• Ubuntu 20.04
• ROS Noetic

Install and Build

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

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

Running the demo

roslaunch likelihood_field_gridmap_ros test.launch

Node I/O

Nodes

likelihood_field_gridmap

Published Topics

• /map/likelihood_field (nav_msgs/OccupancyGrid):
  
  • The gridmap with likelihood field

Parameters

• ~<name>/hz (int, default: 1 [Hz]):
  The rate of publishing the likelihood field
• ~<name>/likelihood_range (float, default: 1.0 [m]):
  The range of the likelihood field