grid_map_geo

This package provides a georeferenced extension to the elevation map grid_map using GDAL, library for raster and vector geospatial data formats

Authors: Jaeyoung Lim
Affiliation: ETH Zurich, Autonomous Systems Lab

Setup

Install the dependencies. This package depends on gdal, to read georeferenced images and GeoTIFF files.

apt install libgdal-dev

Configure the catkin workspace

catkin config --extend "/opt/ros/noetic"
catkin config --merge-devel

Pull in dependencies using rosinstall / rosdep

wstool init src src/grid_map_geo/dependencies.rosinstall
wstool update -t src -j4
rosdep update
rosdep install --from-paths src --ignore-src -y --rosdistro noetic

Build the package

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
catkin build -j$(nproc) -l$(nproc) grid_map_geo

Running the package

The default launch file can be run as the following command.

roslaunch grid_map_geo load_tif.launch

Loading teerrain from a VRT server

One can load a DEM from a terrain server directly.

roslaunch grid_map_geo run_terrain_loader.launch