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Gazebo world to probabilistic map based on occupancy grid

asked 2015-09-24 04:54:09 -0500

TurtlebotProject gravatar image

Hi everybody, I am new to ROS and I have to do this work. I created a Gazebo world and I created a node with Simulink to move my Turtlebot in the map by writing the position to reach in the topic. Now I want to get the probabilistic roadmap of the world I created in Gazebo so the Turtlebot can reach a point without hitting the obstacles. I would like to do it without scanning the whole world first. Thanks in advance for your help.

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answered 2015-09-24 06:38:45 -0500

I'm not aware of a tool that does this out of the box. People at ETH Zurich however developed a pluging for generating octomaps from a Gazebo world (see also here). Running that first and then generating a 2D map out of the octomap looks like a workable solution. There is code for generating a 2D map slice from octomap data in OctomapServer, but it is distributed among other functionality quite a bit there. I created a condensed version here.

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Asked: 2015-09-24 04:54:09 -0500

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Last updated: Sep 24 '15