RSL Panoptic Mapping

RSL Panoptic Mapping is a ROS package for advanced environment understanding and navigation. It uses semantic segmentation and dynamic object tracking to create detailed panoptic maps, distinguishing between movable and static objects.

Features

• Semantic Layer Generation: Generates semantic layers from dynamic and static point clouds.
• Dynamic Mapping and Tracking: Separates point clouds into labeled groups for real-time tracking.
• Traversability Cost Layer: Assigns navigation costs based on semantic information.
• Occupancy Map: Reflects the current state of the environment with both static and dynamic objects.
• Semantic 2D Map Integration: Enhances environmental understanding using tools like GridMap.
• Filtering and Fusion: Applies filters to improve map accuracy.
• ROS Integration: Fully integrated with ROS.

Please check the subpackages README.md for more information

Installation

Ensure ROS is installed. This package depends on several external ROS packages and libraries.

Dependencies

1. GridMap
   • For semantic 2D map generation.

   git clone https://github.com/ANYbotics/grid_map.git

2. Ground Plane Removal
   • Essential for dynamic object segmentation.

   git clone [email protected]:leggedrobotics/tree_detection.git

3. FKIE Message Filters

   sudo apt install ros-noetic-fkie-message-filters

Usage

1. Launch your sensors (camera and LiDAR) and publish the robot state.
2. Launch your segmentation node or use rsl_panoptic.
3. Launch the dynamic mapping node:

   roslaunch dynamic_mapping dynamic_mapping.launch

4. Launch the Panoptic Gridmap:

   roslaunch panoptic_gridmap semantic_map.launch