rviz to create png/jpeg maps of the environment

asked 2011-10-23 16:10:24 -0500

1098 ●46 ●63 ●71 http://mobotica.blogspot.in/

Can I use rviz (with stage/gazebo) to obtain progressively better maps with time ? Can I get that map in png/jpeg format ?

May be a noobish question - any help is appreciated.

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What kind of map? rviz is only a visualization tool.

LiMuBei ( 2011-10-24 06:28:23 -0500 )edit

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answered 2011-10-24 07:41:55 -0500

Mac

4119 ●27 ●62 ●83 http://www.cs.duke.edu/~mac

The short answer is "no", but the longer answer is "yes".

rviz is just a visualization tool; it just lets you watch what's happening. If you want to generate maps, you want the slam_gmapping stack (in particular, the gmapping package), which is the standard way to do (2D, laser-rangefinder) SLAM in ROS. There's nothing special about stage or gazebo; as far as GMapping is concerned, their data is just as good as the data from a real robot.

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@Mac : Can stage/stageros function in tandem with gmapping ? Simulation in stageros and map of the same in gmapping ?

Arkapravo ( 2011-10-25 01:27:28 -0500 )edit

It certainly can.

Mac ( 2011-10-25 03:54:25 -0500 )edit

@Mac : Thank you - do you have any examples of such (viz. stage + gmapping) ?

Arkapravo ( 2011-10-25 04:24:37 -0500 )edit

I don't, I'm afraid. Still, this is a standard use case, and should be well-supported.

Mac ( 2011-10-25 06:24:08 -0500 )edit

@Mac : I have started getting some results using the map server - accuracy is not the strong point right now - but stage marries well with gmapping and map server. Thank you once again.

Arkapravo ( 2011-10-25 06:29:40 -0500 )edit

You're welcome; go ahead and accept my answer, too (the checkmark icon).

Mac ( 2011-10-25 08:58:16 -0500 )edit

@Mac : Working pretty nicely, I have put together a tutorial of sorts ! .... http://mobotica.blogspot.com/2011/10/maps-from-stage-simulations-in-ros.html

Arkapravo ( 2011-10-29 20:51:22 -0500 )edit

That tutorial might be worth putting in a more-visible place; maybe on the stage or gmapping wiki pages? I'm not sure what the right place is.

Mac ( 2011-10-31 02:27:01 -0500 )edit

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