birl-xu / distance_map

A ROS package for converting OccupancyGrid/Costmap2D to 2D distance map.

distance_map

A package for converting OccupancyGrid/Costmap2D to 2D distance map.

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Package Summary

The distance_map package provides a 2D Distance Map class (see Distance Transform) together with the means to generate it, convert it, send it and visualize it.

• Maintainer status: maintained
• Maintainer: Jeremie Deray [email protected]
• Author: Jeremie Deray [email protected]
• License: Apache-2.0
• Bug / feature tracker: https://github.com/artivis/distance_map/issues
• Source: git https://github.com/artivis/distance_map.git (branch: master)

Kinetic	Melodic

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Quick Start • Quick Example • Plugins • Contributing

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Quick Start

Binaries

$ apt-get install ros-melodic-distance-map

From source

$ git clone https://github.com/artivis/distance_map.git
$ catkin build distance_map

Quick Example

Once all distance_map packages are built, one can run an example as follows,

roslaunch distance_map_node example.launch

This command will :

• start a map_server providing a simple map
• start the distance_map node
• start rviz
• start an interactive marker to introspect the distance_map

You should see the following window,

Plugins

Available plugins:

• distance_map_opencv A plugin for OpenCV distance map
• distance_map_deadreck A plugin for the Dead Reckoning Distance Map

Under development plugins:

• None at this time.

Contributing

distance_map is developed according to Vincent Driessen's Gitflow Workflow. This means,

• the master branch is for releases only.
• development is done on feature branches.
• finished features are integrated via PullRequests into the branch devel.

For a PullRequest to get merged into devel, it must pass

• Review by one of the maintainers.
  • Are the changes introduced in scope of distance_map?
  • Is the documentation updated?
  • Are enough reasonable tests added?
  • Will these changes break the API?
  • Do the new changes follow the current style of naming?
• Compile / Test / Run on all target environments.

Credits

This work originated at PAL Robotics, with the participation of Sai Kishor Kothakota