giusenso / occupancy-grid-mapping-engine

Sketch of low-level/low-resources graphic engine: Occupancy Grid Mapping for robot navigation tasks.

Occupancy Grid Mapping Engine

This is a sketch of low-level/low-resources graphic engine for robot navigation tasks based on occupancy grid mapping. Currently it has no real applications, it is just an idea for future projects.

Software

• OS: Linux Ubuntu 20.04.1
• language: C/C++
• compiler: gcc 9.3.0
• lib: SDL2 2.0.13

directory tree:

.
├── compile.sh
├── gui
├── img
├── maps
│   ├── map_1.txt
│   ├── map_2.txt
│   └── map_3.txt
├── occupancy_grid.cpp
├── occupancy_grid.h
├── README.md
├── Robot.cpp
├── Robot.h
├── Tile.h
└── tiles
    ├── bmp

How to run it

Make sure to have SDL2 installed: https://wiki.libsdl.org/Installation

Navigate into the repository folder and complile everything

bash compile.sh

Run the program

./gui

Drive the robot with keyboard arrows and wasd keys, or spacebar for random autonomous motion.