Package Summary
A package that provides a node for merging multiple maps with knowledge of the initial relative positions of robots.
- Author: Zhi Yan
- License: BSD
Source: git https://github.com/yzrobot/map_merging.git (branch: master)
Contents
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.
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.
Related Documentation
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
