osm2gazebo

This package converts the geospatial data from OpenStreetMap to a SDF world usable by gazebo

1 Setup

Install python dependencies

   pip install osmnx
   pip install networkx
   pip install numpy

2 Usage

usage: osm2gazebo.py [-h] [-f FILENAME] [-s SCALE]

Parameters for osm2gazebo

optional arguments:
  -h, --help            show this help message and exit
  -f FILENAME, --filename FILENAME
                        Name of the files generated
  -s SCALE, --scale SCALE
                        Scale of the world generated

Generates 3 files for the multi-robot-sim

1. yaml file : containing information of the world generated
2. networkx gpickle file : node graph of the world generated
3. SDF file : information about the world for Gazebo

Acknowledgements

The world generation is based on https://github.com/osrf/gazebo_osm