Gazebo Map Creator

A ROS plugin and toolset for generating 2D/3D maps from Gazebo world files. This tool allows you to scan Gazebo simulations and export the results as point clouds, occupancy grids, and various navigation-compatible formats.

Features

• 2D/3D Map Generation - Generate both 2D occupancy grids and 3D point clouds from Gazebo worlds
• One-Click Script - Automated script that launches Gazebo, waits for services, and exports maps
• Multiple Output Formats - Exports to PCD, PGM, PNG, YAML, and OctoMap (.bt) formats
• Customizable Resolution - Adjustable scanning resolution for detail vs. performance tradeoffs
• Progress Estimation - Real-time progress tracking with calibration support
• Example Terrains - Included sample terrain models (desert) for testing

Installation

Prerequisites

• Ubuntu 20.04
• ROS 1 Noetic
• Gazebo 11 (Classic)

Dependencies

sudo apt update
sudo apt install -y libboost-dev libpcl-dev liboctomap-dev

Build from Source

# Clone the repository
git clone <repository-url> GM
cd GM

# Source ROS environment
source /opt/ros/noetic/setup.bash

# Build the workspace
catkin_make
source ./devel/setup.bash

Quick Start

# Generate a map with default parameters
./generate_map.sh

This will:

1. Launch Gazebo with the default world file
2. Scan the specified area
3. Export the map to kongdi_map.{pcd,bt,pgm,png,yaml}

Usage

Generate Map Script

The generate_map.sh script provides a one-click solution for map generation.

# Default parameters
./generate_map.sh

# Custom world and scan area
./generate_map.sh src/gazebo_map_creator/kongdi.world -30 -30 -1 30 30 8

# Custom resolution and output prefix
./generate_map.sh src/gazebo_map_creator/kongdi.world -25 -25 -3 25 25 10 0.1 maps/kongdi_map

脚本行为：

• 启动前清理旧的 Gazebo 进程
• 等待 save_map 服务
• 显示估算进度（可通过 EST_STEPS_PER_SEC 调整）
• 结束后自动关闭 Gazebo

进度估算调优：

EST_STEPS_PER_SEC=380000 ./generate_map.sh

Parameters

Argument	Description	Default
world_file	Path to Gazebo world file	src/gazebo_map_creator/kongdi.world
x_min, y_min, z_min	Lower-left corner coordinates	-25, -25, -3
x_max, y_max, z_max	Upper-right corner coordinates	25, 25, 10
resolution	Scan resolution in meters	0.05
output_file	Output file prefix	kongdi_map

Environment Variables

# Adjust progress estimation speed (default: 380000)
EST_STEPS_PER_SEC=500000 ./generate_map.sh

Progress Calibration Script

Use estimate_steps.sh to auto-calibrate progress estimation for your system.

# Default calibration
./estimate_steps.sh

# Custom parameters
./estimate_steps.sh src/gazebo_map_creator/kongdi.world -30 -30 -1 30 30 8 0.1 maps/kongdi_map

# Adjust calibration fraction (default: 0.5)
CALIBRATION_FRACTION=0.3 ./estimate_steps.sh

Using Custom Terrains

Example world with desert terrain:

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:models
gazebo worlds/desert_mesh.world

Terrain customization:

• Scale: Edit models/desert_mesh/model.sdf (current: 3 3 3)
• Position: Edit worlds/desert_mesh.world
• Texture: Replace models/desert_mesh/materials/textures/sand.png

Output Formats

The map generation produces multiple files:

Format	Extension	Description
Point Cloud	.pcd	PCL point cloud format
OctoMap	.bt	Binary OctoMap for 3D navigation
Occupancy Grid	.pgm	Portable Gray Map format
Image	.png	PNG visualization
Metadata	.yaml	Navigation stack configuration

Project Structure

GM/
├── README.md
├── generate_map.sh           # Main map generation script
├── estimate_steps.sh         # Progress calibration script
├── models/
│   └── desert_mesh/          # Example terrain model
├── worlds/
│   └── desert_mesh.world     # Example world file
├── src/
│   └── gazebo_map_creator/
│       ├── gazebo_map_creator/
│       │   └── src/gazbeo_map_creator.cpp  # Core plugin
│       └── gazebo_map_creator_interface/
│           └── srv/MapRequest.srv          # ROS service definition
├── build/
└── devel/

Troubleshooting

Q: Gazebo fails to start?

Check for existing Gazebo processes:

killall gzserver gzclient gazebo

Q: Progress estimation is inaccurate?

Run the calibration script:

./estimate_steps.sh

Or manually adjust:

EST_STEPS_PER_SEC=380000 ./generate_map.sh

Q: Compilation errors?

Ensure all dependencies are installed:

sudo apt install -y libboost-dev libpcl-dev liboctomap-dev
source /opt/ros/noetic/setup.bash
catkin_make clean && catkin_make

Acknowledgments

This project is inspired by and builds upon ideas from arshadlab/gazebo_map_creator, which provides a ROS 2 implementation.

License

This project is licensed under the Apache License 2.0 - see the LICENSE file for details.

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

1. Fork the repository
2. Create your feature branch (git checkout -b feature/AmazingFeature)
3. Commit your changes (git commit -m 'Add some AmazingFeature')
4. Push to the branch (git push origin feature/AmazingFeature)
5. Open a Pull Request