CS - Library: Gridmaps

This library contains implementations of two-dimensional gridmaps. The code is open-source (BSD License) and has been tested under Ubuntu 16.04 with ROS Kinetic. Please note that this project is part of ongoing research and that there will be changes in the future.

Structure

This package consists of several subfolders:

• static_maps and dynamic_maps contain map implementations for maps with static and dynamic size, respectively. Chunking allows dynamic maps to efficiently grow over time.
• conversion contains methods to convert static gridmaps from and to ROS messages of type nav_msgs::OccupancyGrid.
• serialization contains methods to serialize and de-serialize gridmaps using YAML.

Usage

Dependencies

This library depends on the following packages of our research group:

• cslibs_indexed_storage
• cslibs_math
• cslibs_utility

Examples

Exemplary usage of these maps can be found in cslibs_mapping.

Contributing

Contribution guidelines for this project