Only released in EOL distros:
Stack Summary
Utilities for dealing with occupancy grids, represented as nav_msgs::OccupancyGrid objects, including coordinate conversions, shortest paths, ray tracing, and constructing from laser scans.
- Author: Bhaskara Marthi
- License: BSD
- Repository: ros-pkg
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/graph_mapping/tags/graph_mapping-0.3.0
Package Summary
Utilities for dealing with occupancy grids, represented as nav_msgs::OccupancyGrid objects, including coordinate conversions, shortest paths, ray tracing, and constructing from laser scans.
- Author: Bhaskara Marthi
- License: BSD
- Source: git https://kforge.ros.org/gridutils/git (branch: master)
occupancy_grid_utils
Package Summary
Utilities for dealing with occupancy grids, represented as nav_msgs::OccupancyGrid objects, including coordinate conversions, shortest paths, ray tracing, and constructing from laser scans.
- Author: Bhaskara Marthi
- License: BSD
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/graph_mapping/branches/unstable-branch
Package Summary
Utilities for dealing with occupancy grids, represented as nav_msgs::OccupancyGrid objects, including coordinate conversions, shortest paths, ray tracing, and constructing from laser scans.
- Author: Bhaskara Marthi
- License: BSD
- Source: git https://kforge.ros.org/gridutils/git (branch: master)
Documentation
This unary stack contains libraries for various operations on the nav_msgs/OccupancyGrid type, specifically:
- Coordinate conversions between points, grid cell coordinates, and raw indices.
- A generic interface for ray tracing
- Overlaying and ray tracing point clouds onto a grid
- Simulation of 2d laser scans
- Union of multiple unaligned grids
- Shortest paths and obstacle inflation
There are more detailed doxygen descriptions in the code api.