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Ground truth map for a gazebo world like the willowgarage model

asked 2014-03-28 12:18:06 -0500

koenlek gravatar image

Hi all,

I use the turtlebot in the willowgarage world to create a semantic mapping system. As the actual mapping (using gmapping for example) is not the most important part of this effort, I would like to be able to use ground truths for the start as well. I found a way to get the ground truth pose (using the topic /gazebo/model_states), but now I also want a way to get the ground truth map, or at least some way to construct such a map. Is that possible?

Alternatively, is there a way to provide gmapping with the ground truth pose such that it just builds perfect maps (assuming a static world)?

Ultimately I would like to have a tf frame /mobilebasegroudntruth and a map topic /map_groundtruth.

Any help is very much appreciated!

Best, Koen

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answered 2014-03-28 19:13:15 -0500

scpeters gravatar image

updated 2018-02-07 10:51:57 -0500

You can also use this tutorial to generate a 2d image of the Willow Garage floorplan.

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I build a tool for ROS that can generate maps, based on your link. It can be found here for anybody who is interested:


Package: st_gazebo_perfect_map_generator

koenlek gravatar imagekoenlek ( 2014-06-06 08:56:42 -0500 )edit

The repo above no longer contains this package - it was last seen in this commit: https://github.com/koenlek/ros_lemtomap/tree/154c782cf8feb9112bc928e33a59728ca2192489/st_gazebo_perfect_map_generator

Eric gravatar imageEric ( 2016-04-28 00:42:24 -0500 )edit

The link in the post is also now dead, and should be http://gazebosim.org/tutorials?tut=custom_messages

Eric gravatar imageEric ( 2016-04-28 01:02:32 -0500 )edit

I also need a ground truth for my map, is this generator package still somewhere available?

simff gravatar imagesimff ( 2018-01-06 11:02:35 -0500 )edit

All links are now dead - both in answer and in comments... Must admit that the answers experience of Gazebo is very bad...

shaihi gravatar imageshaihi ( 2018-02-07 09:09:34 -0500 )edit

There's a bug in Askbot which adds some garbage to the end of the link, you should be able to copy it and paste on your browser. All the links are working for me like this.

chapulina gravatar imagechapulina ( 2018-02-07 10:53:15 -0500 )edit

Thanks! Works well with copy&paste.

shaihi gravatar imageshaihi ( 2018-02-08 02:32:26 -0500 )edit

answered 2014-03-28 13:38:26 -0500

nkoenig gravatar image

The easiest way to get a map is to use gmapping in ROS.

If you want to validate the map, you could load the willow garage model into Blender, measure distances and compare it to the map produced by gmapping.

I have a feeling you're looking for a more automated method of generating a perfect map in simulation. This feature is not available yet, but you should file a feature request for perfect map generation.

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Asked: 2014-03-28 12:18:06 -0500

Seen: 1,852 times

Last updated: Feb 07