[rmf_demo] How to generate the "0.yaml" file
In our attempt to try out the rmf_demo examples, there is a file specified as "0.yaml" in magni_adapter.launch.xml, which is located at /install/rmf_demo_maps/share/rmf_demo_maps/maps/office/nav_graphs/0.yaml.
The file seems to be the equivalent lanes and vertices generated from traffic_editor but in gazebo's world coordinate.
Vertices in this 0.yaml file are in meter while the coordinate of vertices in building.yaml file of traffic_editor are in pixels.
For example, coordinate of the same vertex in different files:
[office.world - magni1] : (11.553368836072618 -11.315970962255989)
[office.building.yaml - magni1_charger] : (1364.76, 1336.717)
[0.yaml - magni1_charger] : (11.553368836072618, -11.315970962255989)
Is there a conversion or any specific steps to obtain this 0.yaml?