Hypermap framework

This framework manages maps with multiple layers. Currently supported are occupancy and semantic layers.

A paper based on this work was submitted to ICRA 2020. You can find the paper here.

Related packages

hypermap_msgs: Messages used by the framework.

hypermap_rviz_plugin: Provides a plugin to display semantic layers and hypermaps in rviz.

semmapping: Generate semantic maps from RGB-D camera images.

Dependencies

This package uses libzip and png++. On Ubuntu, use

sudo apt install libzip-dev libpng++-dev

to install the required libraries.

Usage

You can load a saved Hypermap by providing it as argument. Alternatively, ROS parameters can be used (see parameters section).

rosrun hypermap map_server map.hmap

Save a map from the command-line interface as follows:

save map.hmap

Parameters

The following private parameters are available:

• load_map: Boolean parameter; load a compressed hypermap file if true.
• load_map_config: Boolean parameter; load a hypermap config file if true.
• file: Specify the file to load.