ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Robot navigation using CAD dawing maps

asked 2015-08-11 06:12:42 -0600

Kishore Kumar gravatar image

updated 2016-08-30 08:32:28 -0600

I want to provide a map drawn in CAD software for robot navigation instead of laser scans, is there any package or stack to take the CAD drawn maps for navigation. How to accomplish this task?

edit retag flag offensive close merge delete


Can you be more specific? Are you talking about a 2D CAD drawing? Or a 3D model? How is the map stored? (i.e. what filetype is it saved as?)

Airuno2L gravatar image Airuno2L  ( 2015-08-11 07:01:59 -0600 )edit

The map is a 2D drawing its like floor plan of an indoor environment, the files will be in typical CAD drawing format Eg: .dae, .stl, .xml.

Kishore Kumar gravatar image Kishore Kumar  ( 2015-08-11 07:42:11 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2016-08-30 22:10:35 -0600

Shay gravatar image

updated 2016-08-30 23:47:31 -0600

For ROS navigation stack, map_server is responsible to read the map. So you need to go through the map_server wiki after reading my answer.

Basically, map_server need two files, i.e a image file and a YAML file. The YAML file describes the map meta-data, and names the image file. The image file encodes the occupancy data.

The image file is the 2D drawing of the map, it is read in via SDL image library. So most popular image formats are widely supported, such as .pgm, .png, .jpg, etc. I don't know if the CAD format is supported, but maybe you can convert the CAD drawing format into regular image format.

In my project, I used the GIMP to draw a map, and output a .pgm image.


In the YAML file, there is a param named resolution, which is the resolution of the map, meters / pixel.

For example, the image is 400x300, and resolution=0.1, then your map is 40mx30m.

And my project is not open-source yet.

edit flag offensive delete link more


What is the unit of measure should be followed in building our own map how to edit the .yaml file accordingly? can u provide link to your project?

Kishore Kumar gravatar image Kishore Kumar  ( 2016-08-30 23:02:02 -0600 )edit

Question Tools

1 follower


Asked: 2015-08-11 06:12:42 -0600

Seen: 2,031 times

Last updated: Aug 30 '16