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distance_map

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A ROS package for converting OccupancyGrid/Costmap2D to 2D distance map.

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최종 버전 다운로드 (.zip)

- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- - distance_map.cpp
  - distance_map_converter_base.cpp
- - CMakeLists.txt
  - gtest_grid.cpp
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- README.md
- - distance_map.launch
- - distance_map_deadreck.cpp
- - CMakeLists.txt
  - gtest_conversion.cpp
- .travis.yml
- CHANGELOG.rst
- CMakeLists.txt
- distance_map_plugin.xml
- package.xml
- - DistanceMap.msg
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- - distance_map.launch
- - distance_map_node.cpp
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- - distance_map.launch
- - distance_map_opencv.cpp
- - CMakeLists.txt
  - gtest_conversion.cpp
- .travis.yml
- CHANGELOG.rst
- CMakeLists.txt
- distance_map_plugin.xml
- package.xml
- - distance_map_display.cpp
- CHANGELOG.rst
- CMakeLists.txt
- distance_map_plugin.xml
- package.xml
- - distance_map.launch
- - distance_map_imarker.cpp
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
.travis.yml
LICENSE
README.md

// repository documentation

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# distance_map

A package for converting `OccupancyGrid`/`Costmap2D` to 2D distance map.

---

## Package Summary
The **distance_map** package provides a 2D Distance Map class
(see [Distance Transform](https://en.wikipedia.org/wiki/Distance_transform))
together with the means to generate it, convert it, send it and visualize it.

-   Maintainer status: maintained
-   Maintainer: Jeremie Deray <deray.jeremie@gmail.com>
-   Author: Jeremie Deray <deray.jeremie@gmail.com>
-   License: Apache-2.0
-   Bug / feature tracker: <https://github.com/artivis/distance_map/issues>
-   Source: git <https://github.com/artivis/distance_map.git> (branch: master)

| Kinetic            | Melodic            |
|--------------------|--------------------|
| [![kinetic][3]][5] | [![melodic][4]][5] |

[3]: https://travis-matrix-badges.herokuapp.com/repos/artivis/distance_map/branches/devel/1
[4]: https://travis-matrix-badges.herokuapp.com/repos/artivis/distance_map/branches/devel/4
[5]: https://travis-ci.org/artivis/distance_map

---

<p align="center">
  <a href="#quick-start">Quick Start</a> •
  <a href="#quick-example">Quick Example</a> •
  <a href="#plugins">Plugins</a> •
  <a href="#contributing">Contributing</a>
</p>

---

## Quick Start

### Binaries
```terminal
$ apt-get install ros-melodic-distance-map
```

### From source

```terminal
$ git clone https://github.com/artivis/distance_map.git
$ catkin build distance_map
```

## Quick Example
Once all **distance_map** packages are built, one can run an example as follows,

```terminal
roslaunch distance_map_node example.launch
```

This command will :
-   start a [`map_server`](http://wiki.ros.org/map_server) providing a [simple map](distance_map_node/example/map/example.pgm)
-   start the **distance_map** node
-   start [`rviz`](http://wiki.ros.org/rviz)
-   start an interactive marker to introspect the **distance_map**

You should see the following window,

![alt text](https://raw.githubusercontent.com/artivis/distance_map/devel/distance_map_node/example/screen/distance_map.gif "distance_map example")

## Plugins
Available plugins:

-   [distance_map_opencv](https://github.com/artivis/distance_map/tree/master/distance_map_opencv) A plugin for [OpenCV distance map](https://docs.opencv.org/3.3.0/d7/d1b/group__imgproc__misc.html#ga8a0b7fdfcb7a13dde018988ba3a43042)
-   [distance_map_deadreck](https://github.com/artivis/distance_map/tree/master/distance_map_deadreck) A plugin for the [Dead Reckoning Distance Map](http://perso.ensta-paristech.fr/~manzaner/Download/IAD/Grevera_04.pdf)

Under development plugins:

-   None at this time.

## Contributing

**distance_map** is developed according to Vincent Driessen's
[Gitflow Workflow](http://nvie.com/posts/a-successful-git-branching-model/).
This means,
-   the `master` branch is for releases only.
-   development is done on feature branches.
-   finished features are integrated via PullRequests into the branch `devel`.

For a PullRequest to get merged into `devel`, it must pass
-   Review by one of the maintainers.
    +   Are the changes introduced in scope of **distance_map**?
    +   Is the documentation updated?
    +   Are enough reasonable tests added?
    +   Will these changes break the API?
    +   Do the new changes follow the current style of naming?
-   Compile / Test / Run on all target environments.

## Credits

This work originated at [PAL Robotics](http://pal-robotics.com/en/home/), with
the participation of [Sai Kishor Kothakota](sai.kishor@pal-robotics.com)