A 2D Occupancy Grid for CostMap by specifying traversal and non-traversal area due to Avoid Obstacles for EXP 4&5 Avoid Holes & Avoid Terrains in rescue robot League for autonomous robots only.
On this assumption you have an Ubuntu 16.04(Xenial) and you have installed ROS Kinetic Kame. Also, you have an autonomous robot. You need a 2D Occupancy Grid to help your robot undrestand traversal area to navigate.
cd ~/wokspace/src
git clone https://github.com/SaraTohidi/traversal_map.gitcd ..
catkin_makeNow you may need to get some dependencies.
ros-kinetic-opencv3
ros-kinetic-pcl-ros
ros-kinetic-pcl-conversions
ros-kinetic-pcl-msgs
ros-kinetic-octomap