Traversability Estimation

A ROS2 package for estimating traversability on pointclouds and 3D path planning for ground robots.

Building

Use docker to build the package:

docker compose -f docker/compose.yaml build

Running

Use docker to run the package:

xhost local:root
docker compose -f docker/compose.yaml up

If you have nvidia docker you can use:

xhost local:root
docker compose -f docker/compose_nvidia.yaml up

The system takes a few secconds to estimate traversability and generate a graph.

Your terminal should look like this:

traversability_estimation  | [traversability_estimation_node-1] [INFO] [1740550635.911924732] [traversability_estimation]: Point cloud conversion took: 132.354 ms
traversability_estimation  | [traversability_estimation_node-1] [INFO] [1740550636.169132617] [traversability_estimation]: Voxel down sampling took: 257.136 ms
demo                       | [INFO] [1740550637.344862788] [graph_planning_client]: Waiting for action server...
traversability_estimation  | [traversability_estimation_node-1] [INFO] [1740550638.488587499] [traversability_estimation]: Radius outlier removal took: 2319.386 ms
traversability_estimation  | [traversability_estimation_node-1] [INFO] [1740550639.793296025] [traversability_estimation]: Traversability estimation took: 1304.622 ms
traversability_estimation  | [traversability_estimation_node-1] [INFO] [1740550644.446386643] [traversability_estimation]: Boundary computation took: 4652.908 ms
traversability_estimation  | [traversability_estimation_node-1] [INFO] [1740550651.497619509] [traversability_estimation]: Cost computation took: 7051.159 ms
traversability_estimation  | [traversability_estimation_node-1] [INFO] [1740550651.497691574] [traversability_estimation]: Total callback processing time: 15718.124 ms
traversability_estimation  | [graph_planning_node-2] [INFO] [1740550651.783936374] [graph_planning]: Received traversable cloud with 427402 points.
traversability_estimation  | [graph_planning_node-2] [INFO] [1740550652.684279339] [graph_planning]: Graph built with 148472 nodes and 148452 edges.

After the graph has been built, use the Publish Point button in RViz (at the top left) to select start and goal points.