pgm_map_creator

Create pgm map from Gazebo world file for ROS localization. This fork deals with build errors and map generation errors that occur using later ROS, Gazebo, and Boost versions.

Environment

Tested on Ubuntu 18.04, ROS Melodic, Gazebo 9.0, Boost 1.65

Usage

Add the package to your workspace

0. Create a catkin workspace
1. Clone the package to the src folder
2. Add the following definition to top of /usr/include/boost/gil/extension/io/png_io_private.hpp:
   #define int_p_NULL (int*)NULL
3. in pgm_map_creator/src/collision_map_creator.cc make the following changes due to changes in Gazebo physics::World class method names:

line 35: Change getName() to Name()
line 91: GetPhysicsEngine() to Physics()

4. To avoid protobuf compiler errors related to vector2d.proto already being included (as may happen if other packages in the same workspace share this dependency), in /catkin_ws/src/pgm_map_creator/msgs/CMakeLists.txt:

change this

set (msgs  
  collision_map_request.proto  
  ${PROTOBUF_IMPORT_DIRS}/vector2d.proto  
  ${PROTOBUF_IMPORT_DIRS}/header.proto  
  ${PROTOBUF_IMPORT_DIRS}/time.proto  
)  

to

set (msgs  
  collision_map_request.proto
  ${PROTOBUF_IMPORT_DIRS}/header.proto  
  ${PROTOBUF_IMPORT_DIRS}/time.proto  
)  

5. 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