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‎.gitignore

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.vscode/
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.vscode/settings.json
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.vscode/c_cpp_properties.json
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devel/
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logs/
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build/
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build_isolated/
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devel_isolated/
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# Generated by dynamic reconfigure
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*.cfgc
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/cfg/cpp/
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/cfg/*.py
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# Ignore generated docs
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*.dox

‎CMakeLists.txt

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cmake_minimum_required(VERSION 3.0.2)
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project(pointcloud_to_grid)
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## Compile as C++11, supported in ROS Kinetic and newer
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add_compile_options(-std=c++17 -Ofast)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(PCL REQUIRED)
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include_directories(${PCL_INCLUDE_DIRS})
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link_directories(${PCL_LIBRARY_DIRS})
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add_definitions(${PCL_DEFINITIONS})
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find_package(catkin REQUIRED COMPONENTS
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dynamic_reconfigure
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sensor_msgs
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nav_msgs
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pcl_ros
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roscpp
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)
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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generate_dynamic_reconfigure_options(
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cfg/MyParams.cfg
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)
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catkin_package(
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INCLUDE_DIRS include
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#LIBRARIES pointcloud_to_grid
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#CATKIN_DEPENDS dynamic_reconfigure nav_msgs pcl_ros roscpp
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#DEPENDS roscpp std_msgs
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)
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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link_directories(${PCL_LIBRARY_DIRS})
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add_definitions(${PCL_DEFINITIONS})
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include_directories(
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include
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${catkin_LIBRARIES}
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${catkin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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add_executable(pointcloud_to_grid_node src/pointcloud_to_grid_node.cpp)
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#add_dependencies(pointcloud_to_map_node ${PROJECT_NAME}_gencfg)
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target_link_libraries(pointcloud_to_grid_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES})
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‎README.md

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# pointcloud_to_grid
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This package converts sensor_msgs/PointCloud2 LIDAR data to nav_msgs/OccupancyGrid 2D map data based on intensity and / or height.
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# `pointcloud_to_grid` ROS package
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This package converts `sensor_msgs/PointCloud2` LIDAR data to `nav_msgs/OccupancyGrid` 2D map data based on intensity and / or height.
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![](doc/grid_map01.gif)
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## Build
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```
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cd ~/catkin_ws/src
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git clone https://github.com/jkk-research/pointcloud_to_grid
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catkin build pointcloud_to_grid
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```
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Don't foget to `source ~/catkin_ws/devel/setup.bash`. *Note*: [`catkin tools`](https://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html) is recommended, but `catkin_make` also works.
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## Features
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- Few dependencies (ROS and PCL mainly) [ROS installation](http://wiki.ros.org/ROS/Installation)
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- Simple as possible
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- Fast
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## Conventions & definitions
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![](doc/grid_map_conventions.svg)
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# Getting started
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Issue the following commands to start roscore, download and play sample data, and start the algorithm with visualization.
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In a **new terminal** start roscore:
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```
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roscore
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```
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In a **new terminal** go to your bag folder (e.g. `~/Downloads`):
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```
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cd ~/Downloads
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```
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Download a sample rosbag (~3,3 GB):
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```r
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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
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```
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Play rosbag:
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```r
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rosbag play -l ~/Downloads/leaf-2021-04-23-campus.bag
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```
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Start the algorithm in a **new terminal** :
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```r
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roslaunch pointcloud_to_grid demo.launch
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```
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Start the visualization in a **new terminal** :
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```r
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roslaunch pointcloud_to_grid rviz.launch
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```
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## Related solutions
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- [github.com/ANYbotics/grid_map](https://github.com/ANYbotics/grid_map) - This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers.
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- [github.com/306327680/PointCloud-to-grid-map](https://github.com/306327680/PointCloud-to-grid-map) - A similar solution but instead PointCloud2 it uses PointCloud
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## Cite & paper
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If you use any of this code please consider citing TODO:
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```bibtex
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```

‎cfg/MyParams.cfg

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#!/usr/env/python
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PACKAGE = "my_dyn_rec"
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from dynamic_reconfigure.parameter_generator_catkin import *
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gen = ParameterGenerator()
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#List of parameters
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gen.add("position_x", double_t, 0, "center position x", -5.0, -20.0, 22.0) # default min max
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gen.add("position_y", double_t, 0, "center position y", 0.0, -20.0, 20.0)
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gen.add("cell_size", double_t, 0, "size of a grid cell", 0.5, 0.01, 5.0)
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gen.add("length_x", double_t, 0, "In meters", 80.0, 0.1, 200.0)
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gen.add("length_y", double_t, 0, "In meters", 80.0, 0.1, 200.0)
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gen.add("intensity_factor", double_t, 0, "Multiply intensity", 0.2, 0.001, 10.0)
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gen.add("height_factor", double_t, 0, "Multiply height", 1.0, 0.001, 10.0)
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gen.add("cloud_in_topic", str_t, 0, "A LIDAR topic to subscribe. Restart needed if it changes.", "/left_os1/os1_cloud_node/points")
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gen.add("mapi_topic_name", str_t, 0, "Intensity map topic name. Restart needed if it changes.", "/lidargrid_i")
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gen.add("maph_topic_name", str_t, 0, "Height map topic name. Restart needed if it changes.", "/lidargrid_h")
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gen.add("debug", bool_t, 0, "publish debug topics too", True)
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exit(gen.generate(PACKAGE, "my_dyn_rec", "MyParams"))

‎doc/default.rviz

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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /PointCloud21/Autocompute Value Bounds1
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Splitter Ratio: 0.5
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Tree Height: 639
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: PointCloud2
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Class: rviz/Axes
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Enabled: true
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Length: 10
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Name: Axes
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Radius: 1
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: false
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Autocompute Value Bounds:
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Max Value: 15.610125541687012
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Min Value: -0.7803434133529663
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: true
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Max Color: 255; 255; 255
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Max Intensity: 2000
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: false
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Size (Pixels): 3
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Size (m): 0.2199999988079071
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Style: Flat Squares
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Topic: /left_os1/os1_cloud_node/points
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: raw
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Draw Behind: false
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Enabled: true
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Name: Intensity grid
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Topic: /lidargrid_i
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: true
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Enabled: true
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Name: Height grid
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Topic: /lidargrid_h
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Unreliable: false
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Use Timestamp: false
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Value: true
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Enabled: true
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Global Options:
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Background Color: 255; 255; 255
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Default Light: true
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Fixed Frame: base_link
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Angle: -1.5700007677078247
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Class: rviz/TopDownOrtho
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Scale: 8.64981746673584
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Target Frame: <Fixed Frame>
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Value: TopDownOrtho (rviz)
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X: 0
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Y: 0
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 904
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000015000000300fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000004a00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002e000003000000009b00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000300fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002e000003000000008400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005980000003efc0100000002fb0000000800540069006d0065010000000000000598000001bf00fffffffb0000000800540069006d00650100000000000004500000000000000000000003310000030000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1432
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X: 59
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Y: 124

‎doc/grid_map01.gif

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‎doc/grid_map_conventions.pdf

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‎doc/grid_map_conventions.png

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‎doc/grid_map_conventions.svg

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