pointcloud_to_grid ROS2 package

This python package converts sensor_msgs/PointCloud2 LIDAR data to nav_msgs/OccupancyGrid 2D map data based on intensity and / or height

Build

cd ~/ament_python_ws/src 
git clone https://github.com/wvu-robotics/pointcloud_to_grid_ros2.git
colcon build

Don't forget to source ~/ament_python_ws/install/setup.bash. Note: colcon build is recommended

Features

• Few dependencies (ROS2) ROS2 installation
• Simple as possible
• Fast

Tested in ROS2 Humble, other distributions may work but not guaranteed

Conventions & definitions

Getting started

Issue the following commands to play sample data, and start the algorithm with visualization.

In a new terminal run the pc2_to_grid.launch.py launch file:

ros2 launch pointcloud_to_grid pc2_to_grid.launch.py

In a new terminal go to your bag folder (e.g. ~/Downloads):

cd ~/Downloads

Play rosbag:

ros2 bag play -l ~/Downloads/your-bag-folder-name

Start the visualization in a new terminal :

rviz2

Select the Add button located in the topic menu on the left. From the topic type options, choose Map and once it appears in the topic menu select either the intensity or height based occupancy grid.

Related solutions

• github.com/ANYbotics/grid_map - This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers.
• github.com/306327680/PointCloud-to-grid-map - A similar solution but instead PointCloud2 it uses PointCloud

Cite & paper

Credit goes to horverno, mesmatyi, and szepilot on github for designing the algorithm this package uses, as well as creating a ROS implementation this package was based on.

Széchenyi University's Research Center's original package