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pgm_map_creator

Create pgm map from Gazebo world file for ROS localization

Environment

Tested on Ubuntu 20.04, ROS Noetic, Boost 1.71.0

Tested on Ubuntu 18.04, ROS Melodic, Boost 1.65.1

Tested on Ubuntu 16.04, ROS Kinetic, Boost 1.58.0

Note: Install protobuf-compiler and source setup.bash in the ROS folder before running catkin_make if they haven't been done.

Usage

Add the package to your workspace

  1. Create a catkin workspace
  2. Clone the package to the src folder
  3. catkin_make and source devel/setup.bash

Add the map and insert the plugin

  1. Add your world file to world folder
  2. Add this line at the end of the world file, before </world> tag: <plugin filename="libcollision_map_creator.so" name="collision_map_creator"/>

Create the pgm map file

  1. Open a terminal, run gzerver with the map file gzserver src/pgm_map_creator/world/<map file>
  2. Open another terminal, launch the request_publisher node roslaunch pgm_map_creator request_publisher.launch
  3. Wait for the plugin to generate map. It will be located in the map folder

Map Properties

Currently, please update the argument value in launch/request_publisher.launch file.

Acknowledgements

Gazebo Custom Messages Gazebo Perfect Map Generator