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Maps

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ROS 2 Jazzy

Jetson Xavier NX

ubuntu 24.04

Overview#

micipsa_maps stores occupancy grid maps used by Micipsa for localization and navigation.

The package acts as the central repository for all maps generated from SLAM sessions and provides a consistent location from which other packages can load them.

In addition to map assets, the package may also contain helper scripts for validating, converting, or post-processing maps generated by slam_toolbox.

Installation#

Requirements#

Install ROS dependencies from the workspace root:

cd ~/ros2_ws
rosdep update
rosdep install --from-paths src --ignore-src -r -y

Native Install#

Build the packages:

colcon build --packages-select micipsa_maps

Source the install overlay:

source install/setup.bash

Tip

Add source /opt/ros/jazzy/setup.bash and source ~/ros2_ws/install/setup.bash to your ~/.bashrc to avoid repeating these steps in every new terminal.