birdsview_map

This package can be used to create a bird view 2D occupancy map of your gazebo world. This way obstacles above the robot hight can be included in the map.

Usage

1. Install the following dependent packages as well as the requirements.txt.

• gazebo_ros_2Dmap_plugin
• map_server

2. Move your gazebo .world file in den world folder.

3. Run the following command and specify the following parameter:

   target_hight: Up to which obstacles should be taken into account

roslaunch birdsview_map create_map.launch target_hight:=2

4. Find the final map in the final_map folder

ToDo

• create pedsim-map