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The navigation graph yaml files are generated and installed to rmf_demo_maps/share/ during build time. See CMakeLists.txt file within the rmf_demo_maps pkg. This is achieved using the building_map_nav tool from the building_map_tools pkg in the osrf/traffic_editor repository. The source code should provide clarity on the transformations performed.

You may also generate the nav graphs by running

ros2 run building_map_tools building_map_nav <input.yaml> <output directory>

from a terminal after sourcing the workspace where building_map_tools was built.