ROS implementation of Likelihood Field Grid Map
- Ubuntu 20.04
- ROS Noetic
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/likelihood_field_gridmap_ros.git
# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build likelihood_field_gridmap_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended
roslaunch likelihood_field_gridmap_ros test.launch
- /map/likelihood_field (
nav_msgs/OccupancyGrid):
- The gridmap with likelihood field
- ~<name>/hz (int, default:
1[Hz]):
The rate of publishing the likelihood field - ~<name>/likelihood_range (float, default:
1.0[m]):
The range of the likelihood field