ROS2 Jazzy Implementation

This repository is an adaptation of the original groundgrid repository, for the standalone jackal autonomy repository.

Source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation"

This repository contains the source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation" published in the IEEE Robotics and Automation Letters (DOI: 10.1109/LRA.2023.3333233).

Dependencies

• ROS2 Jazzy

• colcon

• rclcpp

• rclcpp_components

• geometry_msgs

• sensor_msgs

• std_msgs

• tf2

• tf2_ros

• tf2_msgs

• tf2_geometry_msgs

• grid_map_core

• grid_map_ros

• grid_map_cv

• grid_map_msgs

• grid_map_visualization

• grid_map_rviz_plugin

• cv_bridge

• nav_msgs

• pcl_ros

Build

cd ~/ros2_ws/src
git clone https://github.com/frankgon1627/groundgrid.git
cd ..
colcon build -DCMAKE_BUILD_TYPE=Release --packages-select groundgrid

Launch

Playback

source ~/ros2_ws/install/setup.bash
ros2 launch groundgrid ground_grid.launch.py

Limitations

Currently unable to run with grid_map_rviz_plugin so cannot visualize the image outputs. Semantic pointcloud however, is visible. Not tested against original benchmarks

Citation

@article{steinke2024groundgrid,
  author={Steinke, Nicolai and Goehring, Daniel and Rojas, Raúl},
  journal={IEEE Robotics and Automation Letters},
  title={GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation},
  year={2024},
  volume={9},
  number={1},
  pages={420-426},
  keywords={Sensors;Point cloud compression;Estimation;Laser radar;Image segmentation;Task analysis;Robot sensing systems;Range Sensing;Mapping;Field Robots},
  doi={10.1109/LRA.2023.3333233}}