rse_occupancy_grid_mapping

Occupancy Grid Mapping

This package contains a companion code for the article Occupancy Grid Mapping with The Binary Bayes Filter in ROS 2 which introduces the basic occupancy grid mapping algorithm introduced in section 9.2 of the Probabilistic Robotics book.

Article:

Occupancy Grid Mapping with The Binary Bayes Filter in ROS 2

Installation Instructions

To install the necessary dependencies and clone/build the package, follow these steps:

# Install some dependency
sudo apt install python3-pykdl

# Clone and build the package
# Change the ROS 2 workspace accordingly
cd ros2_ws/src
git clone https://github.com/carlos-argueta/rse_prob_robotics.git
cd ..
colcon build --symlink-install

You have two options to run the mapping node. Option one is to use the pre-recorded data, option two is to run a simulation of the Turtlebot 3 yourself. Depending of your choice, follow one of the set of instructions below.

Option 1: Downloading ROS2 bag

Download the ROS2 bag

wget -O occupancy_grid_mapping_tb3.zip "https://www.dropbox.com/scl/fi/anc0jq4vwhpe78q0ajg4v/occupancy_grid_mapping_tb3.zip?rlkey=bdzpd5uowonfruutk8u4iyzkt&st=9xjq6dr9&dl=1"

Unzip the bag

unzip occupancy_grid_mapping_tb3.zip

Option 2: Simulation installation

Install Gazebo Classic ROS2 tools

sudo apt install ros-humble-gazebo-ros-pkgs 

Install Turtlebot 3 tools

sudo apt install ros-humble-turtlebot3-msgs  

sudo apt install ros-humble-turtlebot3 

Install Turtlebot 3 simulation packages

mkdir -p ~/turtlebot3_ws/src

cd ~/turtlebot3_ws/src/ 
 
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git 

cd ~/turtlebot3_ws && colcon build --symlink-install

Run the code:

Option 1: With ROS2 bag

To run the project, you'll need to open two terminals. Follow the steps below:

Terminal 1

# Launch mapping
source ~/ros2_ws/install/setup.bash 
ros2 run rse_occupancy_grid_mapping occupancy_grid_mapping

Terminal 2

# Navigate to where you extracted the ROS 2 bag and then run it with:
ros2 bag play rosbag2_2025_01_13-13_30_54 --clock

Option 2: With simulation:

To run the project, you'll need to open three terminals. Follow the steps below:

Terminal 1

# Launch mapping
source ~/ros2_ws/install/setup.bash 
ros2 run rse_occupancy_grid_mapping occupancy_grid_mapping

Terminal 2

# Launch simulation
export TURTLEBOT3_MODEL=waffle
source ~/turtlebot3_ws/install/setup.bash 
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py 

It may take a while to load the simulation the first time you run this. Rerun the launch command if it gets stuck for too long or fails.

Terminal 3

# Launch teleop
export TURTLEBOT3_MODEL=waffle
source ~/turtlebot3_ws/install/setup.bash 
ros2 run turtlebot3_teleop teleop_keyboard

Use the teleop tool to remote control the Turtlebot 3 and build the map.

Demo Video