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A 2D Occupancy Grid for CostMap by specifying traversal and non-traversal area

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MRL-AMRL Traversal Map

A 2D Occupancy Grid for CostMap by specifying traversal and non-traversal area due to Avoid Obstacles for EXP 4&5 Avoid Holes & Avoid Terrains in rescue robot League for autonomous robots only.

usage

On this assumption you have an Ubuntu 16.04(Xenial) and you have installed ROS Kinetic Kame. Also, you have an autonomous robot. You need a 2D Occupancy Grid to help your robot undrestand traversal area to navigate.

Download the pakage

cd ~/wokspace/src
git clone https://github.com/SaraTohidi/traversal_map.git

Build the workspace

cd ..
catkin_make

Now you may need to get some dependencies.

Get some dependencies

ros-kinetic-opencv3
ros-kinetic-pcl-ros
ros-kinetic-pcl-conversions 
ros-kinetic-pcl-msgs
ros-kinetic-octomap

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A 2D Occupancy Grid for CostMap by specifying traversal and non-traversal area

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