A Global Traversability Mapping Library easily integratable with any SLAM System.

This repository contains the packages responsible for performing global traversability mapping and can be very easily integrated with any SLAM system.

Traversability Map generated with the 3D PointCloud and SLAM	Gazebo world of the map

Running the library independent of SLAM and with Ground truth poses.

Setup the Gazebo simulation from this repository Gazebo sim

Set the use_gt_pose launch argument in multirobot_traversability.launch.py to true.

To launch the traversability mapping, run ros2 launch traversability_mapping_ros multirobot_traversability.launch.py

You can now visualize the gridmap and the occupancy map via RViz.

Running the library with ORB-SLAM3 and a Gazebo simulation.

Setup the Gazebo simulation from this repository Gazebo sim

Important note: Before setting up the below repository. Make sure you checkout on the traversability_integration branch. This will setup the wrapper along with the traversability mapping during the image build.

Setup the ORB-SLAM3 Wrapper and the traversability system from this repository ORB-SLAM3

Other information:

To integrate this library with your own SLAM system via CPP, follow this Wiki