pgm_map_creator

Create pgm map from Gazebo world file for ROS localization

Environment

Tested on Ubuntu 18.04, ROS Melodic, Boost 1.65

Usage

Add the package to your workspace

0. Create a catkin workspace
1. Clone the package to the src folder
2. catkin build pgm_map_creator and source devel/setup.bash

Add the map and insert the plugin

1. 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

1a. Open a terminal, run gzerver with the map file gzserver src/pgm_map_creator/world/<map file> 1b. Launch the world file normally 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.

Edits

You can edit the map in an external software like GIMP.

Todo

• generation of the YAML file
• options through command line