This repository contains the packages responsible for performing realtime global and local traversability mapping and can be very easily integrated with any SLAM system.
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|---|---|
| Traversability Map generated with the 3D PointCloud and ORB-SLAM 3 | Gazebo world of the map |
Setup the Gazebo simulation from this repository Gazebo sim humble or Gazebo sim jazzy
Once you are inside the gz-sim-environment docker, run the following:
cd other_ws/src
git clone https://github.com/suchetanrs/traversability_mapping
cd .. && rosdep update && rosdep install --from-paths src --ignore-src -r -y --skip-keys sophus
colcon build --symlink-install
source install/setup.bash
Method 1: Launch the shell file if you are using the Gazebo sim humble or Gazebo sim jazzy repository
cd ~/other_ws/src/traversability_mapping/
sudo chmod +x launch_example.sh && ./launch_example.sh
To launch the global traversability mapping, run ros2 launch traversability_mapping_ros global_gt_traversability_mapping.launch.py
To launch the local traversability mapping, run
ros2 launch traversability_mapping_ros local_traversability_mapping.launch.py
You can now visualize the gridmap and the occupancy map via RViz. To launch rviz run
ros2 launch traversability_mapping_ros rviz.launch.py
Setup the Gazebo simulation from this repository Gazebo sim humble
Important note: Before setting up the below repository. Make sure you checkout on the traversability_integration branch. This will setup the ORB-SLAM3 wrapper along with the traversability mapping integrations during the image build.
Setup the ORB-SLAM3 Wrapper and the traversability system from this repository ORB-SLAM3
To integrate this library with your own SLAM system via CPP, follow this Wiki
This work was done at the PNX Lab at ISAE-SUPAERO, Toulouse, France.