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Package Summary

A package that provides a node for merging multiple maps with knowledge of the initial relative positions of robots.

About

The map_merging package contains a ROS node that merges multiple maps with knowledge of the initial relative positions of robots.

Nodes

map_merging

map_merging merges multiple maps with knowledge of the initial relative positions of robots.

Subscribed Topics

map (nav_msgs/OccupancyGrid)
  • map.
pose (geometry_msgs/PoseStamped)
  • pose.

Published Topics

~map (nav_msgs/OccupancyGrid)
  • merged map.

Parameters

~max_comm_distance (double, default: 10.0)
  • The maximum distance feasible for the communication between robots.

Please refer to the following paper to retrieve more information on the node:

@inproceedings{yz14simpar,
author = {Zhi Yan and Luc Fabresse and Jannik Laval and Noury Bouraqadi},
title = {Team Size Optimization for Multi-robot Exploration},
booktitle = {In Proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2014)},
pages = {438--449},
address = {Bergamo, Italy},
month = {October},
year = {2014}
}

Support

Zhi Yan, Luc Fabresse, Jannik Laval, and Noury Bouraqadi

Ecole des Mines de Douai, 59508 Douai, France

http://car.mines-douai.fr

Wiki: map_merging (last edited 2015-03-10 11:53:47 by ZhiYan)