How to generate .simplemap file and rawlog files on my own dataset?

mrpt-ros-pkg / mrpt_navigation

ROS 2 nodes wrapping core MRPT functionality: localization, autonomous navigation, rawlogs, etc. SLAM is in other packages.

http://wiki.ros.org/mrpt_navigation

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

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How to generate .simplemap file and rawlog files on my own dataset? #105

Closed WilliamWoo45 closed 2 years ago

WilliamWoo45 commented 5 years ago

Hi all !

I'm trying to implement the mrpt_localization (particle filter localization) based on my own data. What I have are the rosbag file (collect by Husky robot) and .pgm / .yaml file (collected by running Hector_SLAM and map_server).

But after checking the files on www.mrpt.org, I still don't know how to generate the .simplemap file and the .rawlog file. Do you have any advice or commend for this? Thanks!

@jlblancoc @maxbader

jlblancoc commented 5 years ago

Hi,

For the dataset in rosbag, you can just replay it using standard ROS rosbag play and the MRPT ros nodes should understand the published topics and subscribe to them, etc.

On the map: it's not possible to reconstruct a .simplemap from a metric map (since the .simplemap contains the original raw sensor data), but mrpt_localization can also take as input a .gridmap file. You can use the app image2gridmap to import an image as an MRPT .gridmap file.