Journal
2017 10TH INTERNATIONAL CONFERENCE ON DEVELOPMENTS IN ESYSTEMS ENGINEERING (DESE 2017)
Volume -, Issue -, Pages 256-261Publisher
IEEE
DOI: 10.1109/DeSE.2017.33
Keywords
Gazebo; ROS; octomap; occupancy grid; heightmap; map filtering
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Funding
- Russian Foundation for Basic Research (RFBR)
- Ministry of Science Technology AMP
- Space State of Israel [15-57-06010]
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Algorithms for mobile robots, such as navigation, mapping, and SLAM, require proper modelling of environment. Our paper presents an automatic tool that allows creating a realistic 3D-landscape in Gazebo simulation, which is based on the real sensor-based experimental results. The tool provides an occupancy grid map automatic filtering and import to Gazebo framework as a heightmap and enables to configure the settings for created simulation environment. In addition, the tool is capable to create a 3D Gazebo map from any arbitrary image.
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