flyinskybtx / st_gazebo_perfect_map_generator

fork of an dead origin, very useful

Gazebo perfect map generator

This package can generate perfect maps of a world, which in term can be loaded to /map using the map_server package

Credits

This package was based on the code presented here:

https://bitbucket.org/brawner/collision_map_creator_plugin

Which is described here:

http://gazebosim.org/wiki/Tutorials/1.9/custom_messages

Usage

Make sure that you at this line at the end of your .world file (before </world>):

<plugin filename="libcollision_map_creator.so" name="collision_map_creator"/>

Start world

Then start the gazebo world:

roslaunch st_gazebo_perfect_map_generator start_world.launch world_name:=<full path to map>

For example:

roslaunch st_gazebo_perfect_map_generator start_world.launch world_name:=$(rospack find st_gazebo)/worlds/willowgarage.world

Generate theperfect map files

Example:

roslaunch st_gazebo_perfect_map_generator generate_map.launch map_name:=willowgarage_perfect save_folder:=$(rospack find st_gazebo_perfect_map_generator)/maps xmin:=-25 xmax:=45 ymin:=-30 ymax:=45 scan_height:=10 resolution:=0.05

Tip: xmin is left and ymin is bottom in the resulting image, so use that to finetune the border values.

Load generated map

Example:

rosrun map_server map_server $(rospack find st_gazebo_perfect_map_generator)/maps/willowgarage_perfect.yaml

Use the map with an non-default robot pose

Example: you spawn your robot at 6,-16 for willowgarage.world, you should update willowgarage_perfect.yaml manually:

Change this original line:

origin: [-25.000000, -30.000000, 0.000000]

To:

origin: [-31, -14, 0.000000]