Gazebo maptiles

Utility to create and serve tilemaps for gazebo simulations

Documentation

To see an example of the project, check out the baylands example

If you want an explanation for how the values for the map are calculated, check out calculations

Requirements

External

• 'Gazebo' to take the map photo (https://gazebosim.org/home)
• 'Gdal' to transform the png into a tilemap (https://gdal.org/en/stable/index.html)
• 'Mapviz' to display the tiles (https://swri-robotics.github.io/mapviz/)

Using uv

You only need to run the package through uv and it will setup a virtual environment and install the dependencies automatically.

uv run cli -h

Using pip

0. (Recommended) Create a virtual environment

python3 -m venv .venv
source .venv/bin/activate

1. Install the project with pip

pip install -e .
# use the program
python3 -m gazebo_maptiles.cli ...

# If using a virtual environment
deactivate # turns it off

Running

usage: cli [-h] {photo,create,serve,pipeline} ...

Script to create and serve tilemaps

positional arguments:
  {photo,create,serve,pipeline}
                        Available subcommands
    photo               Take a photo inside a gazebo simulation
    create              Create a new tilemap
    serve               Start a tilemap server

options:
  -h, --help            show this help message and exit

Using uv

uv run cli [-h] {photo,create,serve,pipeline} ...

Using pip

python3 -m gazebo_maptiles.cli [-h] {photo,create,serve,pipeline} ...

Contributing

To contribute, follow the next steps:

1. Fork the project. (by clicking the 'Fork' button in the repository)
2. Create your feature branch (git checkout -b feature)
3. Commit your changes (git commit -m 'Add some feature')
4. Push to the branch (git push origin feature)
5. Open a pull request.

Roadmap

• Create the camera and capture the map photo
• Make a tileset from the map photo
• Serve the tiles with a FastAPI server
• Position the camera inside gazebo with the specified latitude and longitude.
• Calculate the zoom based on the size of the map
• Capture multiple photos and make a tileset from them