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Build World from Occupancy Grid Map

asked 2019-04-04 21:55:49 -0500

janindu gravatar image


I need to build a model of my office in the Gazebo.

I have an Occupancy Grid Map of my office generated using a Lidar on a Turtlebot. Is it possible to use the OGM to replicate the office in the Gazebo environment? (It's OK to assume that the OGM is perfect).

If it is not possible, is there any other way to replicate my office in the Gazebo environment short of surveying the office and getting wall lengths and angles and manually setting up wall - by - wall?

A similar question has been asked in 2016 which has not been answered. I haven't found any other resources.

Thanking in advance, Janindu

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answered 2021-10-11 22:22:54 -0500

RMF project seems to have a tool for this purpose. Check this link

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Asked: 2019-04-04 21:55:49 -0500

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Last updated: Apr 04 '19