Expand ROS' Occupancy Grid

tranqkhue / bugcar_archieved

Bugcar Workspace

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Expand ROS' Occupancy Grid #6

Open tranqkhue opened 3 years ago

tranqkhue commented 3 years ago

In this task, we will expand the ability of ROS' Occupancy Grid to handle more complex perception task (not only LIDAR). Remember: our project do instantaneously localized mapping, and does not depend on a global high-definition map. There are two kinds of map objects: statics (road) and dynamics (obstacles)

[ ] Write ROS plugin to handle more Occupancy Grid layers
[ ] Perform transform with a timestamp for statics object (something like mapping)

tranqkhue commented 3 years ago

There are five types of Occupancy Grid layers I think?

Global statics map
Local statics map
Behavior-reulating
Dynamics obstacle
Dynamics obstacle tracking and inflating However, in one of those types may have more than ONE occupancy grid inputs. My requirement is that we have a param file to set the topic we want to take in occupancy grid, and what type of layers it is.