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ROS 2D Occupancy Grid Publish-Subscriber Demo

Basic demonstration showing how to use RosMap with a static occupancy grid map.

Installing dependencies

sudo apt-get install python3-roslaunch python3-rospy python3-nav-msgs python3-geometry-msgs

Quick Start

In terminal (1), execute the following command to start the ROS master node:

roscore

In terminal (2), execute the following command to start the 2D OccupancyGrid publisher:

python3 ogm_publisher.py

In terminal (3), execute the following command to start PathBench with a 2D OccupancyGrid subscriber:

python3 ros.py

Note, wait a few seconds for the master node and publisher to start before executing the command for terminal (3).

For more information about how to use ros.py, execute the following:

python3 ros.py --help