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if you use the OccupancyGrid (according to the map_server node) in order to navigate the robot ,

you might need the map in PGM format and a description file in YAML ,with the data on the blueprint transformed into a grid (in fact , an array) which contains occupancy value.

=> You may convert the pdf into image file like bitmap and recreate the map by drawing things manually (eg. wall , static obstacle , free area)

[Make sure that the resolution of the converted image is measured , it must be written in the description file.]

From image editing app like photoshop , you need to draw everything according to color definition .

[Black = Occupied , White = Free , Dark Grey = Unknown Area]

Map examples can be found easily on many repos as well as description file(YAML) ~ :D