map_visualizer package

🎯 About

This package provides the visualize the map in ROS2 using MarkerArray and Occupancygrid map types. There is two node osm_visualizer node and occupancy_pub node in this package.

🚀 Technologies

The following tools were used in this project:

• ROS Tested on ROS2 Foxy distro.

✅ Requirements

Before starting 🏁, you need to have ROS2(Foxy) and install some ros2 packages.

sudo rosdep init

rosdep update

rosdep install --from-paths src -y --ignore-src

sudo apt-get install ros-<distro>-lanelet2

E.g: sudo apt-get install ros-foxy-lanelet2

1 - osm_visualizer node

✨ Features

osm_visualizer node visualizes the .osm(OpenStreetMap) file into RViz MarkerArray.

🏁 How to Run

ros2 run map_visualizer osm_visualizer --ros-args -p map_path:=path/to/map.osm

or ros2 launch map_visualizer osm_visualizer.launch.xml you need to change map path

or ros2 launch map_visualizer osm_visualizer.launch.py you need to change map path

Subscribed Topics

• None

Published Topics

• /hd_map (visualization_msgs/msg/marker_array) : visualization messages for RViz
• /array (std_msgs/msg/float64_multi_array) : the left and right bounds points of the map lanelet layers for occupancy_pub node

Parameters

Name	Type	Description	Default value
map_path	std::string	lanelet2 map path	change on launch file
enable_inc_path_points	bool	flag to increment points of left and rigth boundry's linestrings	true
interval	std::string	interval to increment left and right boundry points with linear interpolation for occupancygrid map	0.5

---

2 - occupancy_pub node

✨ Features

occupancy_pub node turn the osm data provided by osm_visualizer node into nav_msgs/msg/occupancy_grid.

🏁 How to Run

ros2 run map_visualizer occupancy_pub

Subscribed Topics

• /array (std_msgs/msg/float64_multi_array) : the left and right bounds points of the map lanelet layers
• /initialpose (geometry_msgs/msg/pose_with_covariance_stamped) : RViz initial pose message to calculate initial location on grid
• /goal_pose (geometry_msgs/msg/pose_stamped) : RViz goal pose message to calculate goal location on grid

Published Topics

• /occupancy_grid (nav_msgs/msg/occupancy_grid) : occupancy grid messages for RViz
• /obsx (std_msgs/msg/float64_multi_array) : x index of obstacles on grid for A* package
• /obsy (std_msgs/msg/float64_multi_array) : y index of obstacles on grid for A* package
• /gridsize (std_msgs/msg/float64_multi_array) : gridsize information message for A* package

Parameters

• None

📝 License

This project is under license from MIT. For more details, see the LICENSE file.

 

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