https://qiita.com/BEIKE/items/825e62bbd8d92b6d347e
git clone https://github.com/shilohc/map2gazebo.git
cd ~/catkin_ws && catkin build # or catkin_make
source ~/catkin_ws/devel/setup.bashroslaunch map2gazebo map2gazebo.launch params_file:=$(rospack find map2gazebo)/config/defaults.yaml
rosrun map_server map_server map.yaml
zotac-d05@d05:~/catkin_ws/src/halc_simulation/map$ rosrun map_server map_server halc0311_a.yaml
- First we need to install these libraries
pip install –user trimesh
pip install –user numpy
pip install –user pycollada
pip install –user scipy
pip install –user networkx
2. Several errors
[ERROR] [1741507226.788502]: bad callback: <bound method MapConverter.map_callback of <__main__.MapConverter object at 0x7fd8238e8f40>>
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "/home/zotac-d05/catkin_ws/src/map2gazebo/src/map2gazebo.py", line 30, in map_callback
contours = self.get_occupied_regions(map_array)
File "/home/zotac-d05/catkin_ws/src/map2gazebo/src/map2gazebo.py", line 72, in get_occupied_regions
image, contours, hierarchy = cv2.findContours(
ValueError: not enough values to unpack (expected 3, got 2)
ValueError: not enough values to unpack (expected 3, got 2)
contours, hierarchy = cv2.findContours(thresh_map, cv2.RETR_CCOMP, cv2.CHAIN_APPROX_NONE)AttributeError: ‘Trimesh’ object has no attribute ‘remove_duplicate_faces’
#mesh.remove_duplicate_faces()
mask = mesh.unique_faces()
mesh.update_faces(mask)process[map2gazebo-1]: started with pid [29285]
[INFO] [1766289078.421279]: map2gazebo running
[INFO] [1766289078.432847]: Received map
[ERROR] [1766289080.632500]: bad callback: <bound method MapConverter.map_callback of <__main__.MapConverter object at 0x7f5e2d288100>>
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "/home/zotac-d06/catkin_ws/src/map2gazebo/src/map2gazebo.py", line 43, in map_callback
mesh.export(f, "stl")
File "/home/zotac-d06/.local/lib/python3.8/site-packages/trimesh/base.py", line 2931, in export
return export_mesh(mesh=self, file_obj=file_obj, file_type=file_type, **kwargs)
File "/home/zotac-d06/.local/lib/python3.8/site-packages/trimesh/exchange/export.py", line 101, in export_mesh
result = util.write_encoded(file_obj, export)
File "/home/zotac-d06/.local/lib/python3.8/site-packages/trimesh/util.py", line 2171, in write_encoded
file_obj.write(stuff.decode(encoding))
UnicodeDecodeError: 'utf-8' codec can't decode byte 0x89 in position 81: invalid start byte
Change open function variable from “w” to “wb”
if mesh_type == "stl":
with open(export_dir + "/map.stl", 'wb') as f:
mesh.export(f, "stl")
rospy.loginfo("Exported STL. You can shut down this node now")
elif mesh_type == "dae":
with open(export_dir + "/map.dae", 'wb') as f:
f.write(trimesh.exchange.dae.export_collada(mesh))3. You can select output between stl or dae
4. The export directory was set to $(find map2gazebo)/models/map/meshes” if there is no this folder, it will say the error…
that reflect gazebo world
Then, File -> Save World As halc.world
hence you will get the current camera pose.
copy the models folder to the package where you copy .world to
<launch>
<env name="GAZEBO_MODEL_PATH" value="$(find map2gazebo)/models:$(optenv GAZEBO_MODEL_PATH)" />
<arg name="debug" default="false"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<!-- Start Gazebo with a blank world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="world_name" value="$(find map2gazebo)/worlds/map.sdf"/>
</include>
</launch><?xml version="1.0" ?>
<sdf version="1.4">
<model name="map">
<link name="link">
<inertial>
<mass>15</mass>
<inertia>
<ixx>0.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0</iyy>
<iyz>0.0</iyz>
<izz>0.0</izz>
</inertia>
</inertial>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://map/meshes/map.stl</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://map/meshes/map.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<static>1</static>
</model>
</sdf>zotac-d05@d05:~/catkin_ws/src$ catkin_create_pkg halc_simulation Created file halc_simulation/package.xml Created file halc_simulation/CMakeLists.txt Successfully created files in /home/zotac-d05/catkin_ws/src/halc_simulation. Please adjust the values in package.xml. zotac-d05@d05:~/catkin_ws/src$ cd halc_simulation zotac-d05@d05:~/catkin_ws/src/halc_simulation$ mkdir -p worlds launch
zotac-d05@d05:~/catkin_ws$ catkin build
Creating a world with turtlebot (this method load map.sdf, unable to adjust the camera pose, just save the world via gazebo is fine!)
<launch>
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="x_pos" default="0.0"/>
<arg name="y_pos" default="0.0"/>
<arg name="z_pos" default="0.0"/>
<arg name="yaw" default="0.0"/>
<env name="GAZEBO_MODEL_PATH" value="$(find halc_simulation)/models:$(optenv GAZEBO_MODEL_PATH)" />
<!-- Start Gazebo with a blank world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find halc_simulation)/worlds/map.sdf"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
<node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
</launch>
Use this kind of launch file is better!
<launch>
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="x_pos" default="0.0"/>
<arg name="y_pos" default="0.0"/>
<arg name="z_pos" default="0.0"/>
<arg name="yaw" default="0.0"/>
<env name="GAZEBO_MODEL_PATH" value="$(find halc_simulation)/models:$(optenv GAZEBO_MODEL_PATH)" />
<!-- Start Gazebo with a blank world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find halc_simulation)/worlds/halc.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
<node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
</launch>roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
roslaunch halc_simulation turtlebot3_gazebo_halc.launch
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
zotac-d05@d05:~$ rostopic echo /amcl_pose | sed -n -e '/pose:/,+10p'
pose:
pose:
position:
x: 2.6776955645384244
y: 0.006516339994905264
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.04651613535574757
w: 0.9989175387145657
roslaunch halc_simulation turtlebot3_gazebo_halc.launch
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/catkin_ws/src/halc_simulation/map/halc_map.yaml
rostopic echo /move_base/status | sed -n -e ‘/seq:/p’ -e ‘/status:/p’ -e ‘/text:/p’
zotac-d05@d05:~/catkin_ws/src/halc_simulation$
rosrun halc_simulation megarover_sequence_goals.py goal_halc_3.yaml