How to properly import 2D map from Google map to Navigation stack?

asked 2021-07-20 07:11:33 -0500

HongLy5 gravatar image

Hi all!

So i used:

  • Turtlebot 3 simulation for navigation using standard Navigation stack.

  • Matlab + gimp to create a pgm map and imported it into map_server.

  • Created a 3D world according to my GG map in Gazebo.

So firstly, i tried to navigate using the pgm map. However, the performance is very bad since the reading from laser sensor drifted more and more compared to the wall of the map and thus the particles of AMCL scatter more and more. As shown here

After that, i tried to build a small section of the map using SLAM from 3D model in Gazebo, saved the map, and run navigation with it. The performance is great! Readings from laser sensor matched with 2D maps and particles of AMCL always converge. As shown here.

Thus, i wanna ask, what is the proper way/steps to convert from Google map to a static 2D map that can perform well in Navigation stack? Because, again, i can imported it but the performance is not good and i'm not sure why. Thank you so much!

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Can you clarify what you mean by "Google Map"? Are you trying to overlap a Google Maps image on your map? Are you trying to get a digital elevation map and use that as a base map? I think we're missing a bit more of a discription of what you are trying to do.

kscottz gravatar image kscottz  ( 2021-07-23 13:37:45 -0500 )edit

Hi @kscottz, sorry for late reply. It was a .pgm binary map (created from Google Map). I've managed to solve the problem by using odom frame as global frame for path planning. Thank you so much for replying!

HongLy5 gravatar image HongLy5  ( 2021-08-04 17:51:41 -0500 )edit