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hyfan1116/pgm_map_creator: Create pgm map from Gazebo world file for ROS localiz ...

原作者: [db:作者] 来自: 网络 收藏 邀请

开源软件名称(OpenSource Name):

hyfan1116/pgm_map_creator

开源软件地址(OpenSource Url):

https://github.com/hyfan1116/pgm_map_creator

开源编程语言(OpenSource Language):

C++ 52.1%

开源软件介绍(OpenSource Introduction):

pgm_map_creator

Create pgm map from Gazebo world file for ROS localization

Environment

Tested on Ubuntu 16.04, ROS Kinetic, Boost 1.58

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




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