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There is a package that subscribes to Occupancy Map and generates 3D 3D mesh with obstacles corresponding to occupied cells of the map: https://github.com/shilohc/map2gazebo

The code can also be used with some modifications use 2D images to create 3D meshes.

Also you could turn your image to .yaml file if you have the corresponding heights for each pixel. https://answers.ros.org/question/200603/is-it-possible-to-use-a-pre-built-map/

There is a package that subscribes to Occupancy Map and generates 3D 3D mesh with obstacles corresponding to occupied cells of the map: https://github.com/shilohc/map2gazebo

The code can also be used with some modifications use 2D images to create 3D meshes.

Also you could turn your image to .yaml file if you have the corresponding heights for each pixel. cell. https://answers.ros.org/question/200603/is-it-possible-to-use-a-pre-built-map/