Laser Static Map Mask/Subtraction Filter (ROS2 Humble)

todo: occupancy_grid code has no clear license

Subtract a static map (OccupancyGridMap) from a point cloud (PointCloud2). This can be used for example to remove obstacles from a point cloud or 2D lidar scan. The map serves as a masking layer for the point cloud.

Installation

cd ament_ws/src
git clone https://github.com/giuschio/static_map_filter_2.git
cd ..
colcon build

Usage

ros2 launch laser_static_map_filter laser_static_map_filter.launch.py