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gazebo_ros_2Dmap_plugin

Gazebo simulator plugin to automatically generate a 2D occupancy map from the simulated world at a given certain height.

This plugin was adapted from the octomap plugin from ETH Zürich.

Include this in your world file:

<plugin name='gazebo_occupancy_map' filename='libgazebo_ros_2d_map.so'>
      <map_resolution>0.05</map_resolution>
      <map_height>0</map_height>
      <map_size_x>55</map_size_x>
      <map_size_y>55</map_size_y>
      <init_robot_x>-7.3</init_robot_x>
      <init_robot_y>1.37</init_robot_y>
</plugin>

To generate the map, call the /gazebo_2Dmap_plugin/generate_map ros service:

ros2 service call /gazebo_2Dmap_plugin/generate_map

The generated map is published on the /map2d ros topic.

You can use the map_saver_cli node from the nav2_map_server package inside ros navigation to save your generated map to a .pgm and .yaml file:

ros2 run nav2_map_server map_saver_cli -f <mapname> /map:=/map2d

The last map generated with the /gazebo_2Dmap_plugin/generate_map call is saved.

Hints

  • To identify the connected free space the robot would discover during mapping, the plugin performs a wavefront exploration along the occupancy grid starting from the origin of the gazebo world coordinate system. Please ensure that the corresponding cell is in the continuous free space.
  • The plugin will map all objects in the world, including the robot. Remove all unwanted objects before creating the map.