Create a 2D map of the surrounding space in the form nav_msgs::msg::OccupancyGrid, using: laser scanner data (LaserScan) and/or depth data from the camera (Image + CameraInfo) The map is created in a specified coordinate system (e.g., odom_ekf) and can be used for navigation, trajectory planning, etc.

• Build Dockerfile docker build -t ros2-humble-app

• Update packages apt-get update

• Install some ROS2-пакеты + CGAL for geom apt-get install -y --no-install-recommends
  ros-humble-image-transport
  ros-humble-cv-bridge
  ros-humble-sensor-msgs
  libcgal-dev
  libeigen3-dev
  libopencv-dev

• For building packages use: colcon build --packages-select common colcon build --packages-select geom
  colcon build --packages-select cv_bridge
  colcon build --packages-select image_geometry colcon build --packages-select occupancy_grid

• source install/setup.bash

For launch the project ros2 launch occupancy_grid occupancy_grid