Gazebo simulator plugin to automatically generate a 2D occupancy map from the simulated world at a given certain height.
This plugin was adapted from the octomap plugin from ETH Zürich.
Check out the plugin in your catkin_ws
and build it with catkin_make
.
To include the plugin, add the following line in between the <world> </world>
tags of your Gazebo world file:
<plugin name='gazebo_occupancy_map' filename='libgazebo_2Dmap_plugin.so'>
<map_resolution>0.1</map_resolution> <!-- in meters, optional, default 0.1 -->
<map_height>0.3</map_height> <!-- in meters, optional, default 0.3 -->
<map_size_x>10</map_size_x> <!-- in meters, optional, default 10 -->
<map_size_y>10</map_size_y> <!-- in meters, optional, default 10 -->
</plugin>
To generate the map, call the /gazebo_2Dmap_plugin/generate_map
ros service:
rosservice call /gazebo_2Dmap_plugin/generate_map
The generated map is published on the /map
ros topic.
You can use the map_saver
node from the map_server
package inside ros navigation to save your generated map to a .pgm and .yaml file. To do so, start the node before calling the /gazebo_2Dmap_plugin/generate_map
ros service:
rosrun map_server map_saver -f <mapname>
The map is saved once you call the map generation service.
- To identify the connected free space the robot would discover during mapping, the plugin performs a wavefront exploration along the occupancy grid starting from the origin of the gazebo world coordinate system. Please ensure that the corresponding cell is in the continuous free space.
- The plugin will map all objects in the world, including the robot. Remove all unwanted objects before creating the map.