Elevation Mapping

1. Dependencies

ROS 2 is extremely poorly supported, and a bunch of dependency issues can occur including but not limited to the following errors, tested on Ubuntu 20.04 runing Ros2-foxy.

1.1 pcl_ros

Install from Debian pkg:

sudo apt install ros-$ROS_DISTRO-perception-pcl

Build from source:

1. Download source code of Perception-pcl pkg on branch ros2 from

2. Create a new ws and build.

Errors~~~~:

1. In pointcloud_to_pcd.cpp~~~~: line 56, change #include <tf2_eigen/tf2_eigen.hpp> to #include <tf2_eigen/tf2_eigen.h>. Apply to all the tf2-related dependency-not-found issues.

1.2 Grid_map

grid_map_foxy.zip

This package is from foxy-devel branch with grid_map_core pkg migrated from the humble branch. Neither of the original branches can pass compilation on my Ubuntu 20.04 with ROS2 Foxy.

Errors

1. Filters/Filters.hpp not found.

sudo apt install ros-$ROS_DISTRO-filters

2. Build package

https://github.com/GoAMATEUR/ElevationMapping-ROS2

Adapted from ROS1 ver. of https://github.com/ANYbotics/elevation_mapping

cd ~/ros_ws/src
git clone https://github.com/GoAMATEUR/ElevationMapping-ROS2
cd ~/ros_ws && colcon build

3 Usage

3.1 Configuration

There are 4 config files inside of ./config folder.

• elevation_map.param.yaml: Define names of frames, elevation mapping behaviors, sensor models, etc.

• topic_name.yaml: Subscibed / publish topic names.

• visualization.yaml

• post_processing.param.yaml

3.2 Subscribed Topics / TF's

Point cloud data of type PointCloud2 should be published to topic specified in topic_type.yaml. 

Estimate of Robot pose w.r.t. global map is required by the node and should be published to specified topic of type PoseWithVarianceStamped. 

TF The following TF's should also be published.

• map (global) -> robot_frame

• robot_frame -> sensor_frame.

3.3 Run Node

After bringing up sensors and odometry nodes, run: 

ros2 launch elevation_mapping_ros2 elevation_mapping.launch.py

To visualize the elevation map use rviz2 and subscirbe to PointCloud2 topics.

References

https://github.com/ANYbotics/elevation_mapping ANYbotics

https://github.com/leggedrobotics/elevation_mapping_cupy cupy

elevation map to costmap

https://github.com/ANYbotics/grid_map