A Global Traversability Mapping Library easily integratable with any SLAM System.

This repository contains the packages responsible for performing realtime global and local traversability mapping and can be very easily integrated with any SLAM system.

Traversability Map generated with the 3D PointCloud and ORB-SLAM 3	Gazebo world of the map

Build status

Running the library independent of SLAM and with Ground truth poses.

Setup the Gazebo simulation from this repository Gazebo sim

git clone https://github.com/suchetanrs/traversability_mapping

cd traversability_mapping && sudo chmod +x clean_build.sh && ./clean_build.sh

To launch the global traversability mapping, run ros2 launch traversability_mapping_ros global_traversability_mapping.launch.py

To launch the local traversability mapping, run ros2 launch traversability_mapping_ros local_traversability_mapping.launch.py

You can now visualize the gridmap and the occupancy map via RViz. To launch rviz run ros2 launch traversability_mapping_ros rviz.launch.py

Running the library with ORB-SLAM3 and a Gazebo simulation.

Setup the Gazebo simulation from this repository Gazebo sim

Important note: Before setting up the below repository. Make sure you checkout on the traversability_integration branch. This will setup the ORB-SLAM3 wrapper along with the traversability mapping integrations during the image build.

Setup the ORB-SLAM3 Wrapper and the traversability system from this repository ORB-SLAM3

Other information:

To integrate this library with your own SLAM system via CPP, follow this Wiki