ROS1 Elevation Map Integration Help
Budget: €30 – €250 EUR
I already have a ROS1 workspace that publishes semantic point clouds generated with SAM 2 image segmentation and, in parallel, grid-map-based elevation layers produced with Anybotics’ elevation-mapping package. The two streams need to be fused so each cell of the elevation grid carries the correct semantic label, but my current launch files never line up the transforms or topics correctly and I’m running in circles with unexplained mismatches.
What you’ll step into:
• ROS1 (Noetic) nodes and launch files that output a sensor_msgs/PointCloud2 semantic cloud.
• A working instance of the Anybotics elevation_mapping repository producing grid_map messages (https://github.com/anybotics/grid_map).
• A reproducible bag file and RViz config to replay the issue.
What I need from you:
• Review the existing repository, identify where the semantic PC2 fails to propagate into the elevation grid, and patch the interface (likely in the elevation_mapping::SemanticElevationMap subclass I started).
• Clean up the TF / topic flow so everything runs from a single launch.
• Provide concise documentation or inline comments so I can maintain the changes.
Acceptance criteria: when I launch my supplied bag file, RViz should display a colour-coded elevation grid whose semantics perfectly mirror the source point cloud, with no latent frame or timestamp warnings.
If you have rock-solid ROS1 C++ or Python node-writing experience and have touched grid_map or elevation_mapping before, this should be straightforward. I’ll be available for quick questions and can test patches on my hardware as you iterate.
What you’ll step into:
• ROS1 (Noetic) nodes and launch files that output a sensor_msgs/PointCloud2 semantic cloud.
• A working instance of the Anybotics elevation_mapping repository producing grid_map messages (https://github.com/anybotics/grid_map).
• A reproducible bag file and RViz config to replay the issue.
What I need from you:
• Review the existing repository, identify where the semantic PC2 fails to propagate into the elevation grid, and patch the interface (likely in the elevation_mapping::SemanticElevationMap subclass I started).
• Clean up the TF / topic flow so everything runs from a single launch.
• Provide concise documentation or inline comments so I can maintain the changes.
Acceptance criteria: when I launch my supplied bag file, RViz should display a colour-coded elevation grid whose semantics perfectly mirror the source point cloud, with no latent frame or timestamp warnings.
If you have rock-solid ROS1 C++ or Python node-writing experience and have touched grid_map or elevation_mapping before, this should be straightforward. I’ll be available for quick questions and can test patches on my hardware as you iterate.