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HKUST-Aerial-Robotics / EPSILON

MIT License
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How to simulate the occuslion of perception #5

Closed KailinTong closed 3 years ago

KailinTong commented 3 years ago

Dear author,

In the video you simulated the occuslion of perception, like the picture below. It looks really nice. Could you please give me some hints on how to implement this in ROS and tell me the corresponding code? image

Thanks a lot! image

MasterIzumi commented 3 years ago

@KailinTong Hi, this is based on 2D ray casting on a grid map, and the implementation is based on this repo. You can also find the code in core/semantic_map_manager/thirdparty/roguelike_ray_casting/.

KailinTong commented 3 years ago

Thank you very much!