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Author: lukovicaleksa

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(grid_mapping)
+
+## Find catkin and any catkin packages
+find_package(catkin REQUIRED COMPONENTS rospy std_msgs )
+
+## Declare a catkin package
+catkin_package()
+
+# Install python scripts
+catkin_install_python(PROGRAMS scripts/create_from_rosbag.py
+				scripts/message_handler.py
+				scripts/utils.py
+				scripts/grid_map.py
+				scripts/bresenham.py
+				scripts/rtime_gmapping_node.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Build talker and listener
+include_directories(include ${catkin_INCLUDE_DIRS})

bagfiles/house.bag

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+<?xml version="1.0"?>
+<package format="2">
+  <name>grid_mapping</name>
+  <version>0.0.0</version>
+  <description>The grid_mapping package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">maestro</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/grid_mapping</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

bagfiles/stage_1.bag

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+#!/usr/bin/env python
+
+import numpy as np
+
+def bresenham(gridMap, x1, y1, x2, y2):
+	"""
+	Bresenham's line drawing algorithm - working for all 4 quadrants!
+	"""
+	
+	# Output pixels
+	X_bres = []
+	Y_bres = []
+
+	x = x1
+	y = y1
+	
+	delta_x = np.abs(x2 - x1)
+	delta_y = np.abs(y2 - y1)
+	
+	s_x = np.sign(x2 - x1)
+	s_y = np.sign(y2 - y1)
+
+	if delta_y > delta_x:
+
+		delta_x, delta_y = delta_y, delta_x
+		interchange = True
+
+	else:
+
+		interchange = False
+
+	A = 2 * delta_y
+	B = 2 * (delta_y - delta_x)
+	E = 2 * delta_y - delta_x
+
+	# mark output pixels
+	X_bres.append(x)
+	Y_bres.append(y)
+
+	# point (x2,y2) must not be included
+	for i in range(1, delta_x):
+
+		if E < 0:
+
+			if interchange:
+
+				y += s_y
+			
+			else:
+
+				x += s_x
+
+			E = E + A
+
+		else:
+
+			y += s_y
+			x += s_x
+			E = E + B
+
+		# mark output pixels
+		X_bres.append(x)
+		Y_bres.append(y)
+
+	return zip(X_bres, Y_bres)