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heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version jazzy
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

heightmap_spawner repository

heightmap_spawner

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/damanikjosh/heightmap_spawner.git
VCS Type git
VCS Version humble
Last Updated 2025-01-30
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
heightmap_spawner 0.1.0

README

heightmap_spawner

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.

screenshot

Features

  • Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
  • Image Processing: Includes median filtering and color inversion to improve map accuracy.
  • Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
  • Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).

Dependencies

  • ROS 2: Required for running the package in a ROS environment.
  • Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
  • Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
  • OpenCV: Used for image processing tasks such as filtering and color inversion.
  • nav2_map_server: Provides the occupancy grid maps to be converted.

Installation

  1. Clone the repository into your ROS 2 workspace:
   git clone https://github.com/damanikjosh/heightmap_spawner.git
  1. Install required dependencies using rosdep:
   rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace using colcon:
   colcon build

Usage

Launching the Example Map

Use the provided launch file to run the example map and see the heightmap spawner in action:

ros2 launch heightmap_spawner example.launch.py

Launching the Spawner Node

You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.

Node Arguments

Customize the behavior of the heightmap spawner using the following arguments:

Argument Default Value Description
save_path /tmp The directory where the processed heightmap image is saved.
height 0.5 The vertical height of the spawned heightmap in Gazebo.
use_median_filtering true Enables median filtering to reduce noise in the heightmap.
use_color_inverse true Inverts the colors of the image to adjust height scaling.
low_thresh 200 Lower threshold value for filtering the occupancy grid image.
high_thresh 255 Upper threshold value for filtering the occupancy grid image.

License

This package is licensed under the MIT License. See the LICENSE.txt file for more details.

CONTRIBUTING