🗺️Evidential occupancy grid map (EOGM)🗺️

📝 Description

This repository contains a ROS node that fuses multiple evidential occupancy grid maps (EOGM) into a single map and publishes it on a topic in the form of an octomap. For performance reasons, the fusion is done using AVX2 instructions. This is a part of the deepening and opening project of the 3rd year of engineering school at INSA Rouen Normandie.

✅ Requirements

• ROS Melodic
• Ubuntu 18.04 LTS
• AVX2 compatible CPU (Intel Haswell or newer)

🛠️ Compilation

To build the project, clone the repository and compile it using catkin_make:

catkin_make install

🚀 Usage

First, start the ROS core:

roscore

Then, launch the node:

source devel/setup.bash
rosrun map_fusion map_fusion_node

📖 Documentation

To generate the documentation, run:

source devel/setup.bash
rosdoc_lite src/map_fusion

The documentation will be generated in the doc folder.

📜 License

Authors:

• Dimitri TIMOZ
• Alix ANNERAUD

This project is licensed under the MIT License - see the LICENSE file for details.