This package provides a georeferenced extension to the elevation map grid_map using GDAL, library for raster and vector geospatial data formats

rviz_screenshot_2022_12_20-22_10_17

Authors: Jaeyoung Lim
Affiliation: ETH Zurich, Autonomous Systems Lab

Setup

Install the dependencies. This package depends on gdal, to read georeferenced images and GeoTIFF files.

Pull in dependencies using rosdep

source /opt/ros/humble/setup.bash
rosdep update
# Assuming the package is cloned in the src folder of a ROS workspace...
rosdep install --from-paths src --ignore-src -y

Build the package

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to grid_map_geo

Running the package

The default launch file can be run as the following command.

source install/setup.bash

ros2 launch grid_map_geo load_tif_launch.xml

API Documentation

Documentation for the C++ API in grid_map_geo is here.