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heightmap_spawner package from heightmap_spawner repoheightmap_spawner |
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/damanikjosh/heightmap_spawner.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-01-30 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Gazebo Harmonic heightmap spawner from ROS2 map
Additional Links
No additional links.
Maintainers
- Joshua J. Damanik
Authors
No additional authors.
heightmap_spawner
A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap models for use in Gazebo simulations.
Features
- Occupancy Grid Conversion: Converts 2D occupancy grid maps into heightmaps for 3D simulation.
- Image Processing: Includes median filtering and color inversion to improve map accuracy.
- Configurable Thresholds: Adjustable parameters to control the image-to-heightmap transformation.
- Gazebo Integration: Automatically spawns the processed heightmap in Gazebo (gz-sim).
Dependencies
- ROS 2: Required for running the package in a ROS environment.
- Gazebo (gz-sim): The simulation platform where the heightmap models are spawned.
- Gazebo Transport Library (gz-transport): Facilitates communication with Gazebo.
- OpenCV: Used for image processing tasks such as filtering and color inversion.
- nav2_map_server: Provides the occupancy grid maps to be converted.
Installation
- Clone the repository into your ROS 2 workspace:
git clone https://github.com/damanikjosh/heightmap_spawner.git
- Install required dependencies using
rosdep:
rosdep install --from-paths src --ignore-src -r -y
- Build the workspace using
colcon:
colcon build
Usage
Launching the Example Map
Use the provided launch file to run the example map and see the heightmap spawner in action:
ros2 launch heightmap_spawner example.launch.py
Launching the Spawner Node
You can also launch the heightmap_spawner node directly using the spawner.launch.py file or by defining the node in your own launch files.
Node Arguments
Customize the behavior of the heightmap spawner using the following arguments:
| Argument | Default Value | Description |
|---|---|---|
save_path |
/tmp |
The directory where the processed heightmap image is saved. |
height |
0.5 |
The vertical height of the spawned heightmap in Gazebo. |
use_median_filtering |
true |
Enables median filtering to reduce noise in the heightmap. |
use_color_inverse |
true |
Inverts the colors of the image to adjust height scaling. |
low_thresh |
200 |
Lower threshold value for filtering the occupancy grid image. |
high_thresh |
255 |
Upper threshold value for filtering the occupancy grid image. |
License
This package is licensed under the MIT License. See the LICENSE.txt file for more details.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rviz2 | |
| rclcpp | |
| std_msgs | |
| nav_msgs | |
| nav2_map_server | |
| nav2_lifecycle_manager |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
