Loading own map wtih multiple robots

DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.

BSD 3-Clause "New" or "Revised" License

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Loading own map wtih multiple robots #83

Closed ljaniec closed 3 years ago

ljaniec commented 3 years ago

Hi,

This project is a great help in my work, but I am missing maybe something obvious for more experienced ROS/Gazebo users.

How could I load my own previously prepared in Gazebo map of walls and obstacles (and second one, with virtual obstacles for forbidden areas) for multiple MiR 100's? I have a plan of the floor too for it as a PNG black & white image.

Best regards Lukasz

mintar commented 3 years ago

You're talking about the Gazebo simulation, not the real robots, correct? In that case, you can just give the path to the map.yaml files to the map_file and virtual_walls_map_file arguments of mir_navigation/launch/start_planner.launch. Look at mir_gazebo/maps/maze.yaml for the format.

ljaniec commented 3 years ago

Yes, I meant in Gazebo simulation. I will try your hints and report with its effects later in an edit.

mintar commented 3 years ago

Please don't edit, just add a new comment. I don't get email notifications for edits.