costmap-2d-layer 开源项目推荐（16 个）

tsengapola /costmap_depth_camera

这是一个针对costmap_2d pkg的成本地图插件。该插件支持多个深度相机，并实时运行。

dorezyuk /sob_layer

Makes small objects big

dfki-ric /nav2_ground_consistency_costmap_plugin

Evidence-based costmap layer using ground and non-ground points to estimate occupancy with temporal decay and height-based filtering.

nkuwenjian /voronoi_layer

A ROS costmap plugin for dynamicvoronoi presented by Boris Lau

Hongtai-Yuan /Voronoi_Planner_ROS2

该仓库基于ros2 humble和navigation2，在nav2中实现了基于Voronoi的全局路径规划器，以避开障碍物，使机器人在更安全的路径上行走。

sacrover /traversability-nav2

The Nav2 Traversability Plugin generates traversability costmaps for outdoor terrains.

nkuwenjian /distance_map_layer

A ROS costmap plugin for Euclidean distance map based on OpenCV distance transform function.

DoanNguyenTrong /vision_costmap_layer_ros

A ROS customer layer for adding objects from object detection algorithms to costmap_2d.

gajena /roc_the_saviour

Autonomous Aerial Robot for Object Picking and Dropping with Versatile Grippper

cuixing158 /costmap_pathplan_cpp

A simple scheme of costmap+path planning for low-speed automated parking

cuixing158 /costmap_pathplan

A simple scheme of costmap+path planning for low-speed automated parking

suminkxng /SocialTypeAwareCostmap

This ROS costmap plugin is designed for different human social types. It creates a 2D Gaussian function-based personal space around a person, with a larger size personal space generated for a child and group.

nlimpert /velocity_share

A ROS package to share position and velocity information between robots and fill a costmap_2d layer.

JonJonTheFox /Rough-Terrain-Planning

Offread LiDAR Segmentation For Light Weight Cost Map Generation

Sensor7 /restricted_costmap_plugin

Ros2 Nav2 costmap plugin for defining a teach-in area for robots, which robot should keep inside

AlpMercan /stair_costmap

Stair falling preventation for turtlebot