rviz imported map resize for navigation [closed]

asked 2018-08-28 02:36:50 -0600

Hello,

I'm beginner !

I have a homemade 2d map in png file format. I didn't build this map with Rplidar or something. I can import the file into rviz, but it seems that the size of my map is way too big (in dimension) compared to what my turtlebot is watching.

So when I run some navigation, my robot moving very little on my map (in rviz), it looks like the map is bigger than it should be.

How can I resize this or configure the projection ? I couldn't find anything about this issue.

Run command:

$ roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/turtlebot/Maps/office_bitmap.yaml

The yaml file:

image: /home/turtlebot/Maps/office_bitmap.png
resolution: 0.05
origin: [-25.624998, -25.624998, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
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Closed for the following reason question is not relevant or outdated by marcdab
close date 2018-08-30 00:19:58.566001

Comments

The ratio of my map should be 1px = 1.2635cm or 1m = 79.1452315px But I have no idea how to put this ratio into the configuration...

marcdab gravatar imagemarcdab ( 2018-08-28 03:38:29 -0600 )edit