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Draw an OccupancyGrid?

asked 2018-08-22 12:08:50 -0600

seanarm gravatar image

Are there any ROS tools, or recommended third-party tools, for drawing a 2D grid that's output as a nav_msgs/OccupancyGrid? I could find an online grid editor that outputs to coordinates, then convert them, but I'm hoping there's an already-made tool.

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I haven't used it myself, but if you have access to matlab, it would appear it has some infrastructure that could be helpful with this. See here.

gvdhoorn gravatar image gvdhoorn  ( 2018-08-22 13:57:25 -0600 )edit

There is a grid_map library. I'm using it to edit existing grid maps or creating new from scratch.

luk.mitka gravatar image luk.mitka  ( 2018-08-23 09:33:13 -0600 )edit

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answered 2018-08-23 16:06:29 -0600

fergs gravatar image

The map_server loads an image + YAML file to publish a nav_msgs/OccupancyGrid. You can edit the image file in any image editor (e.g. GIMP, Photoshop, etc). The wiki page for map_server has details of how to setup the YAML file that tells map_server how to interpret the image.

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Asked: 2018-08-22 12:08:50 -0600

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Last updated: Aug 23 '18