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willow garage world - 2d map

asked 2015-11-18 04:41:08 -0500

Rahndall gravatar image

Dear Ros User, is it possible to get a 2d map (basically for amcl and move base) of the willow garage environment simulated in the willow garage world? Thank you!

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answered 2017-01-27 13:20:35 -0500

dbworth gravatar image

updated 2017-01-27 22:24:41 -0500

130s gravatar image

The accepted answer to this thread is no longer correct.
The .pgm files at that website do not match the Gazebo world ""

UPDATE by @130s: As of Jan 2017 this is the right location.

The correct 2D map is "willow-2010-02-18-0.10.pgm"
found here:

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answered 2015-11-18 10:38:24 -0500

130s gravatar image

Some generated map files for Willow's office are available: (found via this thread).

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answered 2015-11-18 04:44:59 -0500

Akif gravatar image

First thing to try can be spawn a Turtlebot with gmapping. Move around in Willow Garage office with teleop and save the resulting map with map_server.

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I was just wondering if someone else had already done the gmapping process and if the resulting map is somewhere available

Rahndall gravatar image Rahndall  ( 2015-11-18 05:06:53 -0500 )edit

Why would you do gmapping on a map you already have?

Mehdi. gravatar image Mehdi.  ( 2015-11-18 09:38:05 -0500 )edit

Willow Garage office is available in gazebo as a world. AFAIK, gazebo does not provide .pgm map file. Therefore you can do gmapping to have this map. But as @130s mentioned there are .pgm files for WG office in WG's website which I did not know priorly. Therefore @Rahndall can use it directly.

Akif gravatar image Akif  ( 2015-11-19 01:21:31 -0500 )edit

answered 2022-01-15 14:44:14 -0500

trevor.ablett gravatar image

I know this is super old, but the need came up to have a very accurate map of the, and using mapping seemed like it would be pretty tedious, and the map in the accepted answer was decent but has many gaps.

Using this excellent package, I generated a map, which you can download from here (google drive) if you need it.

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Asked: 2015-11-18 04:41:08 -0500

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Last updated: Jan 27 '17