Grid mapping in ROS
Creating Occupancy Grid Maps using Static State Bayes filter and Bresenham's algorithm for mobile robot (turtlebot3_burger) in ROS.
Creating Occupancy Grid Maps using Static State Bayes filter and Bresenham's algorithm for mobile robot (turtlebot3_burger) in ROS. The project is written primarily in Python, first published in 2021. Key topics include: ai, bagfiles, bayes-filter, bresenham-algorithm, gazebo.
grid-mapping-in-ROS
Creating Occupancy Grid Maps using Static State Bayes filter and Bresenham's algorithm for mobile robot (turtlebot3_burger) in ROS.
- bagfiles are created by manually driving the robot with turtlebot3_teleop, topics recorded: '/scan' and '/odom'
- grid maps can be created from bagfiles using create_from_rosbag.py
- grid maps can be created in real time using rtime_gmapping_node.py
Content
- bagfiles -> folder containing recorded rosbag files
- maps -> folder containing images of Gazebo maps as well as output grid maps
- papers -> materials used for the project
- scripts -> python scripts
Results
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