How do I change the mesh export format in map2gazebo?

Edit the YAML parameter file to set 'mesh_type' to 'stl' or 'dae', but note that DAE files default to black color, requiring manual edits to model.sdf for visibility in Gazebo.

Why is my Gazebo world black when using map2gazebo?

This happens with Collada (DAE) exports, which default to black color. You need to edit the DAE file or adjust the model.sdf to specify a different color for better visibility.

Can map2gazebo handle real-time SLAM output or dynamic maps?

It's better suited for static maps, as mentioned in the README. For dynamic maps, performance may be suboptimal due to its design for one-time conversion from published map topics.

What's the difference between using map2gazebo and creating Gazebo worlds manually?

map2gazebo automates the conversion from 2D occupancy grids to basic 3D boxes, saving time, but manual creation offers more control over detailed geometry, textures, and complex environments.

How do I adjust the obstacle height in the generated Gazebo world?

Set the 'box_height' parameter in your YAML file, which defaults to 2 meters. This allows customizing the vertical scale of obstacles to match simulation needs.

Does map2gazebo support adding textures or colors to obstacles?

No, it only generates simple box meshes without built-in texture support. For visual enhancements, you must manually edit the exported mesh or Gazebo model files post-conversion.

map2gazebo — ROS 2D to 3D Map Converter

What is map2gazebo?

map2gazebo is a ROS package that converts 2D occupancy grid maps into 3D simulation environments for Gazebo. It automatically generates mesh files representing obstacles as tall boxes, allowing robotics developers to quickly create Gazebo worlds from existing mapping data. This eliminates the need for manual 3D environment modeling when transitioning from mapping to simulation.

Target Audience

Robotics developers and researchers using ROS and Gazebo who need to create simulation environments from 2D occupancy maps, particularly those working with SLAM, navigation, or autonomous systems.

Value Proposition

It provides an automated pipeline between mapping and simulation, saving significant time compared to manual Gazebo world creation. The package integrates seamlessly with ROS ecosystems and offers configurable parameters for flexible obstacle representation.

Overview

map2gazebo is a ROS package that automatically transforms 2D occupancy grid maps into 3D simulation environments for Gazebo. It subscribes to map topics and generates mesh files representing obstacles as tall boxes, enabling rapid prototyping of robotic simulation worlds from existing mapping data.

Key Features

Map Topic Subscription — Listens to ROS map topics (typically from map_server) to capture occupancy grid data.
Mesh Export — Generates 3D mesh files in STL or Collada (DAE) formats for import into Gazebo.
Configurable Obstacles — Adjustable box height and occupancy threshold parameters to customize obstacle representation.
Launch Integration — Includes gazebo_world.launch to automatically launch Gazebo with the generated map mesh pre-populated.
Parameter Management — Supports YAML parameter files for flexible configuration of map topics, mesh types, and obstacle properties.

Philosophy

The project prioritizes simplicity and automation in bridging the gap between 2D mapping and 3D simulation, reducing manual environment creation for robotics developers.

map2gazebo

What is map2gazebo?

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