Package Summary

Tags No category tags.
Version 0.3.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/robot_navigation.git
VCS Type git
VCS Version noetic
Last Updated 2022-06-21
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Customizable tools for publishing images as NavGrids or OccupancyGrids

Additional Links

No additional links.

Maintainers

  • David V. Lu!!

Authors

No additional authors.

nav_grid_server

nav_grid_server is a drop-in replacement for map_server but with added flexibility. As such, it is a convenient tool for publishing maps (nav_grids) from image files. It can also save image files from ROS topics.

Map Server

Classic Usage

rosrun nav_grid_server server path/to/map.yaml

This reads map meta-data from the yaml file and exposes the map in three different ways. * Publishes a nav_msgs/OccupancyGrid message on the /map topic (along with nav_msgs/MapMetaData on the /map_metadata topic). * Provides the nav_msgs/GetMap service with the name /static_map * Publishes a nav_2d_msgs/NavGridOfChars message on the /static_map topic (which natively contains the metadata)

Direct Image Usage

rosrun nav_grid_server server path/to/map.png

You can also just provide the image file as a command line argument and use the default metadata.

Map Saver

rosrun nav_grid_server saver

This retrieves a nav_msgs/OccupancyGrid message from the /map topic and saves as map.png and map.yaml.

Images

Image data is managed using opencv2 and can use many formats, including (but not limited to) * bmp * jpg * png * webp * pgm

Metadata

Classically, the map metadata has been contained in a yaml file stored alongside the image file, e.g.

image: testmap.png
resolution: 0.1
origin: [0.0, 0.0, 0.0]
occupied_thresh: 0.65
free_thresh: 0.196
negate: 0

In addition, nav_grid_server provides the ability to also specify this information as ROS parameters, or not at all. The order of precedence is * ROS Parameters (highest precedence) * YAML File * Default values (lowest precedence)

See the nav_grid documentation for further definitions of the metadata.

Server Params

The following parameters are able to be specified in either the yaml or ROS parameter server (with defaults in parentheses).

  • resolution (0.05) - Resolution of the map, meters / pixel
  • negate (false) - Whether the image intensity should be negated
  • occupied_thresh (0.65) - Pixels with intensity greater than this threshold (scaled 0-1) are considered occupied.
  • free_thresh (0.196) - Pixels with intensity less than this threshold (scaled 0-1) are considered free.
  • mode ("trinary") - Default cost interpretation. See the documentation here.
  • origin_x/origin_y (0.0 / 0.0) Origin offset in meters. The yaw is assumed to be zero. Note:: For backwards compatibility, the origin in the yaml file is specified with the name origin as an array of doubles, the first to values of which are used for origin_x and origin_y.

If using a yaml file, image must also be specified as the path (absolute or relative) to the image file.

Additionally, you can set the following as ROS Parameters: * frame_id ("map") - TF frame of the map * occupancy_grid_topic ("map") - Topic on which the nav_msgs/OccupancyGrid is published. * nav_grid_topic ("static_map") - Topic on which the nav_2d_msgs/NavGridOfChars is published.

Saver Params

  • topic ("map")- Topic to subscribe to
  • nav_grid (false) - If true, the topic is expected to be of type nav_2d_msgs/NavGridOfChars. Otherwise, nav_msgs/OccupancyGrid
  • once (true) - If true, only save the first map. Otherwise, save the map repeatedly (useful for mapping).
  • trinary_output (true) - If true, uses the trinary cost interpretation. Otherwise, the values are scaled [0, 100]
  • Filename Parameters
    • map_extension ("png")
    • map_prefix ("map")
    • output_directory (".")
    • write_unstamped (true) If true, will write to output_directory/map_prefix.map_extension
    • write_stamped (false) If true, will write to output_directory/map_prefix-timestamp.map_extension
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nav_grid_server at answers.ros.org

Package Summary

Tags No category tags.
Version 0.3.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/robot_navigation.git
VCS Type git
VCS Version melodic
Last Updated 2021-07-30
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Customizable tools for publishing images as NavGrids or OccupancyGrids

Additional Links

No additional links.

Maintainers

  • David V. Lu!!

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nav_grid_server at answers.ros.org

Package Summary

Tags No category tags.
Version 0.3.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/robot_navigation.git
VCS Type git
VCS Version kinetic
Last Updated 2021-01-08
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Customizable tools for publishing images as NavGrids or OccupancyGrids

Additional Links

No additional links.

Maintainers

  • David V. Lu!!

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nav_grid_server at answers.ros.org