6-robot/jie_3d_nav

jie_3d_nav is a 3D navigation system for robots built on ROS 2 Humble, controlled through a web browser interface. ROS 2 (Robot Operating System 2) is an open-source framework used to program robots. This project lets you take a map of a physical environment, whether it was scanned as a point cloud, loaded from a 2D grid map, or generated from a simulation, and convert it into a 3D occupancy map called an OctoMap. An OctoMap divides space into a 3D grid of cells, each marked as occupied, free, or unknown, allowing a robot to understand what areas it can and cannot travel through. Once the map is loaded, you can open a web page in any browser, click a starting point and a destination on the 3D map, and the system will calculate a navigable path. You can also view and manually edit the map cells using a desktop GUI, mark hazardous or blocked zones, and manage saved map files. The system has been tested on a real robot dog platform with a spatial positioning module. You would use this project if you are building or experimenting with an autonomous robot that needs to navigate three-dimensional environments, such as a robot that must move through a multi-story building or uneven terrain, and you want to control and monitor it from a web browser without specialized hardware.