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Test Environment Maps for Robot Navigation

asked 2014-09-12 23:15:17 -0500

ROSCMBOT gravatar image


I was wondering if there is a database of different environment maps for testing robot navigation in ROS. In particular, I'm looking for an open space environment map without narrow corridors and many obstacles.


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What format are you looking for? Just a map, i.e. yaml/ppm?

dornhege gravatar image dornhege  ( 2014-09-13 05:12:29 -0500 )edit

Yes yaml/pgm files would be fine

ROSCMBOT gravatar image ROSCMBOT  ( 2014-09-13 07:37:10 -0500 )edit

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answered 2014-09-13 16:07:51 -0500

paulbovbel gravatar image

updated 2014-09-13 16:09:29 -0500

If you're looking to test navigation with fake maps (i.e. environments in simulation), you should probably try using the gazebo simulator. I'm not sure if any of the gazebo environments come with pgm maps ready to plugin, but running a gmapping cycle with a teleoperated robot would be a good opportunity to test the robot's control/sensor setup.

A 2D map is as much a product of your robot's sensor setup as it is of the environment.

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Thanks. I'm using rviz because it provides many visualization tools to debug sensors and the navigation module. That's why I'd rather test work on 2D maps for now just because of rviz.

ROSCMBOT gravatar image ROSCMBOT  ( 2014-09-13 16:51:47 -0500 )edit

The map alone won't do you any good, you need the simulated sensor feedback from the environment if you want to run tests. This is what gazebo provides (as a simulator), alongside rviz (a visualizer). There is also this 2D simulator which comes with some maps.

paulbovbel gravatar image paulbovbel  ( 2014-09-13 17:11:56 -0500 )edit

Thanks a lot Paul. I think I was confused about rviz as a visualizer and gazebo as a simulator. Now it's ,more clear to me.

ROSCMBOT gravatar image ROSCMBOT  ( 2014-09-14 16:57:09 -0500 )edit

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Asked: 2014-09-12 23:15:17 -0500

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Last updated: Sep 13 '14