This is a ROS package to create a cost map of a terrain based on the slope for providing possible foothold locations for legged robots. It uses the 3D-Occupancy from the octomap to create a height map of the terrain, this height map is used to obtain slope at each point using PCA.
- Ubuntu 16.04 and above
- ROS Kinetic and above
- C++ 11/14/17
- octomap-ros
- octomap-server
- Eigen
/octomap_binary
/heightMapVisualization
/costMapVisualization
world_frame
(default:/odom)robot_frame
(default:/base_link)
C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Motion planning for challenging locomotion: a study of decoupled and coupled approaches, IEEE International Conference on Robotics and Automation (ICRA), 2017
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Copyright (c) 2020, Raj Shinde
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