local_mapping_ros

Local mapper package. The role of the local mapper is to take the RGB-D camera images and output the cone classes and positions in 3D space.

Configurations such as tf names or topics can be updated in the launch file of this package.

Inputs

• /camera/color/image_raw (sensor_msgs/Image): Color image
• /camera/depth/image_rect_raw (sensor_msgs/Image): Depth image
• /camera/depth/camera_info (sensor_msgs/CameraInfo): Depth camera intrinsic parameters

Outputs

• /cones (sensor_msgs/ConeArray): Cone array in car axis
• /local_cone_markers (visualization_msgs/MarkerArray): Array of markers for visualization in RViz or Foxglove

Requirements

• ROS 2 Humble
• CMake
• LibTorch
• lart_msgs
• C++17 compiler

or

• Docker

Building

If you aren't working in this package and just want to use it, or deploying to production, Docker is recommended (takes a lot of time the first time but shouldn't break).

Bare metal

• Install the dependencies listed above.
• Make a new directory for your workspace.
  • Example: mkdir -p ~/catkin_ws/src
• Put this directory in the src directory of the workspace.
• Run the command source /opt/ros/humble/setup.bash.
• From the root of the workspace run:
  • rosdep install -i --from-path src --rosdistro humble -y
  • colcon build

Docker

• Run the command docker build -t local_mapping . and wait about some centuries.
• Run the command docker run --gpus all local_mapping.