Is it possible to make a bag file or a mapping file from a cad or bim file?

asked 2019-03-05 13:10:44 -0600

cerebraldad gravatar image

I have a revit CAD file and an AUTOCAD file that I would like to convert to a bag file for my robot to consume, so that when i get there I would have a head start navigating a relatively "unknown" space.

So basically a floor plan of a building, that I would like to navigate autonomously. (also add it to the rviz sim)

Is this possible?

Thanks Keith

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I'm not aware of any tools to do this directly. A long shot, but: Gazebo supports DEM terrain models, and uses GDAL to load supported formats. If there is a way to transform your data in one of the supported formats, that could work.

If all you're after is a 2D floor plan, then you could simply ..

gvdhoorn gravatar image gvdhoorn  ( 2019-03-05 14:45:07 -0600 )edit

.. convert it to a .pgm or any of the other formats supported by the navigation stack.

also add it to the rviz sim

please note: RViz is not a simulator, but a visualisation tool.

gvdhoorn gravatar image gvdhoorn  ( 2019-03-05 14:45:39 -0600 )edit

do you know of any api that would convert to a pgm file?

cerebraldad gravatar image cerebraldad  ( 2019-03-06 07:54:10 -0600 )edit

Convert from what? .pgm is a graphics file format and fi Gimp can save and edit those files.

But my comments were just me brainstorming, not necessarily giving you actionable advice.

gvdhoorn gravatar image gvdhoorn  ( 2019-03-06 08:00:59 -0600 )edit