dwl2021 / map_gen Goto Github PK

Now we two version:1.0 and 2.0. We introduce version 1.0 firstly and the version 2.0 will be shown in section ##Version2.0

You can run this project with the following command:

./run.sh

Then rviz will start, and you can use 2D Nav Goal to set the position of points (independent of direction). After using 2D Nav Goal twice, it will generate a point cloud wall.

After finishing the map drawing, you can save the map with the following order,

./save.sh

then the pcd file will save to ~/res.pcd

./undo.sh

./clear.sh

it is hard to loacate the coordinate of the point, so you can modify reference_points.py and then run

python3 reference_points.py

to publish the reference points

you can modify the parameter in the ~/map_gen/src/map_generator/launch/map_generator.launch

<!-- pc wall param -->
<param name="~width" value="0.15"/>
<param name="~height" value="2.4"/>

<!-- pc step -->
<param name="~step_length" value="0.05"/>
<param name="~step_width" value="0.05"/>
<param name="~step_height" value="0.02"/>

<param name="frame" value="world" />
<remap from="/click_map" to="/map_generator/click_map"/>

./v2_run.sh

It is very similar to v1.0.

If you want to publish some reference points, such as the coordinates (0,0) and (0,50), you can modify the file reference.py and then run:

python3 reference.py

This project was inspired by FUEL.