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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

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

Seen: 2,107 times

Last updated: Jan 27 '17