map2world

ROS2 Port of map2gazebo: A package for creating Gazebo/Ignition environments from 2D Maps

map2gazebo Project URL: https://github.com/shilohc/map2gazebo

Pre-Requisites

• ROS2 Humble (tested with the Debian packages)
• Python3 Dependencies
  • opencv-python
  • numpy
  • trimesh
  • matplotlib
  • pycollada

Installation

• Make sure all pre-requisites are installed on your system first.
• Create a new folder. Let's say it's map2world.
• Create a src folder inside it.
• Open a fresh terminal. cd into map2world/src. Clone this repository.
• Execute cd .. in the same terminal to move a folder up to map2world.
• Execute colcon build in the terminal.

Usage

• Make sure the installation is properly completed
• Have a map server publishing the map to a topic. (One way to do is to run your Robotics Stack locally.)
• Open a fresh terminal, cd into the directory where map2world was built, and source it (source install/setup.bash)
• Run map2world: ros2 run map2world map2world --ros-args -p map_topic:={map_topic} -p mesh_type:={mesh_type} -p export_dir:={export_dir} -p occupied_threshold:={occupied_threshold} -p box_height:={box_height}
  • Parameters Reference:
    • map_topic (Optional): Map Topic to which the map is being published. Default Value: map
    • mesh_type (Optional): Whether to export as a .dae file or .stl file. Accepted Values: .dae, .stl Default Value: .dae
    • export_dir (Optional): Folder path to save the file to. Default Value: Active user's home directory.
    • occupied_threshold (Optional): Minimum threshold for OpenCV to get the occupied regions of the map. Default Value: 1
    • box_height (Optional): Height of the occupied voxel from ground in the 3D mesh. Default Value: 2.0
• Once the conversion is successfully done, the map2world node will shut down with a message on the terminal.