# pgm_map_creator

**Repository Path**: SunnyHello123/pgm_map_creator

## Basic Information

- **Project Name**: pgm_map_creator
- **Description**: ROS：使用world文件直接建图
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-07-21
- **Last Updated**: 2020-12-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 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
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](http://gazebosim.org/wiki/Tutorials/1.9/custom_messages)
[Gazebo Perfect Map Generator](https://github.com/koenlek/ros_lemtomap/tree/154c782cf8feb9112bc928e33a59728ca2192489/st_gazebo_perfect_map_generator)