fverdoja / ros_maps_to_pedsim Goto Github PK

Hi! You have done a great job!

I have been trying to use your package and found a minor error that could be easily fixed. The problem is that the script does not take the origin given in the map.yaml into account. The origin happens to be non-zero sometimes when you build map with gmapping and the same was in my case. The map in gazebo was not aligning with the map in pedsim. So I just added the following lines to the scenario_from_map function.

 origin = map_metadata['origin']
 ...
                world_x = origin[0] + y * resolution
                world_y = origin[1] - (x - sz[0]) * resolution

Hope that it helps anyone too.