easynav_gridmap_stack

This stack is part of the Easy Navigation (EasyNav) project developed by the Intelligent Robotics Lab. It is composed of the gridmap_maps_builder package and the gridmap_maps_manager package (currently under construction) for handling elevation maps.

Installation

Clone the repository into your ROS 2 workspace:

cd ~/ros2_ws/src
git clone https://github.com/EasyNavigation/easynav_gridmap_stack.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --packages-select easynav_gridmap_maps_builder

Usage

Source your workspace:

source ~/ros2_ws/install/setup.bash

Run the lifecycle node:

ros2 run easynav_gridmap_maps_builder gridmap_maps_builder_main

Parameters

Name	Type	Default Value	Description
sensor_topic	string	"points"	Topic name to subscribe for point cloud data.
downsample_resolution	double	1.0	Resolution used for downsampling the point cloud.
perception_default_frame	string	"map"	Default frame ID for the output grid map.

Test

1. Create a parameter YAML file (e.g., params.yaml) with the following content:

pointcloud_maps_builder_node:
  ros__parameters:
    use_sim_time: true
    sensors: [map]
    downsample_resolution: 0.1
    perception_default_frame: map
    map:
      topic: map
      type: sensor_msgs/msg/PointCloud2
      group: points

2. Run the node using the parameter file with this command:

ros2 run easynav_gridmap_maps_builder gridmap_maps_builder_main \
--ros-args --params-file src/easynav_gridmap_stack/params.yaml