pgm_map_creator

Create pgm map from Gazebo world file for ROS localization

Environment

Tested on Ubuntu 18.04, ROS Melodic

Install Dependencies

We need libignition-math2-dev and protobuf-compiler to compile the map creator:

    $ sudo apt-get install libignition-math2-dev protobuf-compiler

Usage

Add the package to your workspace

0. Create a catkin workspace
1. Clone the package to the src folder
2. 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