This repository contains a ROS node that fuses multiple evidential occupancy grid maps (EOGM) into a single map and publishes it on a topic in the form of an octomap. For performance reasons, the fusion is done using AVX2 instructions. This is a part of the deepening and opening project of the 3rd year of engineering school at INSA Rouen Normandie.
- ROS Melodic
- Ubuntu 18.04 LTS
- AVX2 compatible CPU (Intel Haswell or newer)
To build the project, clone the repository and compile it using catkin_make
:
catkin_make install
First, start the ROS core:
roscore
Then, launch the node:
source devel/setup.bash
rosrun map_fusion map_fusion_node
To generate the documentation, run:
source devel/setup.bash
rosdoc_lite src/map_fusion
The documentation will be generated in the doc
folder.
Authors:
- Dimitri TIMOZ
- Alix ANNERAUD
This project is licensed under the MIT License - see the LICENSE file for details.