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OSM Plug-in for Gazebo/Stage

Author:         Tashwin Khurana
Maintainer:     Krystian Gebis
Version:        1.9
Description:    Open Street Maps plugin for Gazebo and Stage Simulators
                This folder contains files for building osm_plugin for both simulators.

Dependencies:

Python 2.7
OpenCV
Mapnik:
	https://github.com/mapnik/mapnik/wiki/UbuntuInstallation
Osmapi:
	sudo pip install osmapi

Files:

osm2dict.py

Collects data about certain types of roads based on input coordinates from osm database and converts the information received to format that can be used to build sdf files.

dict2sdf.py

Used to build sdf file from data received about the elements in the sdf format.

  • functionality:
  • add models to world,
  • add road element,
  • set road width,
  • add points to the road element

getMapImage.py

Gets the image of the area required to be simulated.

getOsmFile.py

Downloads the osm database of the specified area.

gz_osm.py

Command line compatible program which combine the functionality of all the above classes and functions to output the .sdf file for gazebo.

usage: gz_osm.py [-h] [-f OUTFILE] [-o OSMFILE] [-O INPUTOSMFILE]
                 [-i IMAGEFILE] [-d DIRECTORY]
                 [-B [BOUNDINGBOX [BOUNDINGBOX ...]]] [-r] [-m] [-b] [-a]
                 [--interactive]

optional arguments:
  -h, --help            show this help message and exit
  -f OUTFILE, --outFile OUTFILE
                        Output file name
  -o OSMFILE, --osmFile OSMFILE
                        Name of the osm file generated
  -O INPUTOSMFILE, --inputOsmFile INPUTOSMFILE
                        Name of the Input osm file
  -i IMAGEFILE, --imageFile IMAGEFILE
                        Generate and name .png image of the selected areas
  -d DIRECTORY, --directory DIRECTORY
                        Output directory
  -B [BOUNDINGBOX [BOUNDINGBOX ...]], --boundingbox [BOUNDINGBOX [BOUNDINGBOX ...]]
                        Give the bounding box for the area Format: MinLon
                        MinLat MaxLon MaxLat
  -r, --roads           Display Roads
  -m, --models          Display models
  -b, --buildings       Display buildings
  -a, --displayAll      Display roads and models
  --interactive         Starts the interactive version of the program

Example Usage:

Generate World from manually exported .osm file:

./gz_osm.py -O map.osm

Output file: outFile.sdf (default)

Check the file on gazebo:

gazebo outFile.sdf