Footstep Affordance

Overview

This is a ROS package to create a cost map of a terrain based on the slope for providing possible foothold locations for legged robots. It uses the 3D-Occupancy from the octomap to create a height map of the terrain, this height map is used to obtain slope at each point using PCA.

Dependencies

1. Ubuntu 16.04 and above
2. ROS Kinetic and above
3. C++ 11/14/17
4. octomap-ros
5. octomap-server
6. Eigen

Subscriptions

1. /octomap_binary

Publications

1. /heightMapVisualization
2. /costMapVisualization

Params

1. world_frame(default:/odom)
2. robot_frame(default:/base_link)

Citations

C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Motion planning for challenging locomotion: a study of decoupled and coupled approaches, IEEE International Conference on Robotics and Automation (ICRA), 2017

Disclaimer

BSD 3-Clause License

Copyright (c) 2020, Raj Shinde
All rights reserved.

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