Create pgm map from Gazebo world file for ROS localization
Tested on Ubuntu 16.04, ROS Kinetic, Boost 1.58
- Create a catkin workspace
- Clone the package to the src folder
catkin_makeand sourcedevel/setup.bash
- Add your world file to world folder
- Add this line at the end of the world file, before
</world>tag:<plugin filename="libcollision_map_creator.so" name="collision_map_creator"/>
- Open a terminal, run gzerver with the map file
gzserver src/pgm_map_creator/world/<map file> - Open another terminal, launch the request_publisher node
roslaunch pgm_map_creator request_publisher.launch - Wait for the plugin to generate map. It will be located in the map folder
Currently, please update the argument value in launch/request_publisher.launch file.
Tested on docker-ce 20.10.12
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First install docker-ce from here
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Clone and change directory to this folder
cd pgm_map_creator -
Build image with desired tag
docker build -t <myimage> .
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Create your container
docker run -t -d --name <mycontainer> <myimage:latest>
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Start bash shell in your container
docker exec -it <mycontainer> /bin/bash
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Source your ros distro and workspace
source /home/username/.bashrc -
Build
cd /home/username/catkin_ws/ && catkin_make
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Find your container IP address
sudo docker inspect -f "{{ .NetworkSettings.IPAddress }}" <mycontainer>
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Open up a new terminal for transfering your .world file to container with nautilus file manager. But make sure you have SAMBA installed on your computer.
nautilus sftp://username@<container-ip-address>