ros2_object_map
A ROS2 package that marks detected objects on a map during SLAM using object analytics.
Overview
ros2_object_map is a ROS2 package designed to tag and visualize detected objects on a map while performing Simultaneous Localization and Mapping (SLAM). It integrates with object detection systems to provide spatial awareness of objects in robotic environments, enabling robots to maintain a dynamic map of their surroundings.
Key Features
- Object Tagging on Map — Marks detected objects directly on the SLAM-generated map for real-time spatial reference.
- ROS2 Integration — Built as a native ROS2 package, leveraging ROS2 topics and nodes for communication.
- Object Analytics Compatibility — Uses ros2_object_analytics for object detection and tracking inputs.
- RVIZ Visualization — Publishes MarkerArray messages to display object tags in ROS Rviz for monitoring.
- Map Saving — Allows saving of object maps via a dedicated topic for persistence and analysis.
Philosophy
The project focuses on enhancing robotic perception by combining SLAM with object detection, creating a unified spatial representation that helps robots understand and interact with their environment more effectively.
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