This is a costmap plugin for costmap_2d pkg. This plugin supports multiple depth cameras and run in real time.

A package for setting up ROS Navigation stack on a custom 4-wheel robot.

Perception 3D is the graph-based framework for 3d mobile robot, it is the substitution of costmap_2d

Codes related with global / local path planner and cost maps

Obstacle cost and its Jacobian for polygonal robots