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Hi all,

I use the turtlebot in the willowgarage world to create a semantic mapping system. As the actual mapping (using gmapping for example) is not the most important part of this effort, I would like to be able to use ground truths for the start as well. I found a way to get the ground truth pose (using the topic /gazebo/model_states), but now I also want a way to get the ground truth map, or at least some way to construct such a map. Is that possible?

Alternatively, is there a way to provide gmapping with the ground truth pose such that it just builds perfect maps (assuming a static world)?

Ultimately I would like to have a tf frame /mobile_base_groudntruth and a map topic /map_groundtruth.

Any help is very much appreciated!

Best, Koen

Originally posted by koenlek on Gazebo Answers with karma: 3 on 2014-03-28

Post score: 0


1 Answer 1


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You can also use this tutorial to generate a 2d image of the Willow Garage floorplan.

Originally posted by scpeters with karma: 2861 on 2014-03-28

This answer was ACCEPTED on the original site

Post score: 0

Original comments

Comment by koenlek on 2014-06-06:
I build a tool for ROS that can generate maps, based on your link. It can be found here for anybody who is interested:


Package: st_gazebo_perfect_map_generator

Comment by Eric on 2016-04-28:
The repo above no longer contains this package - it was last seen in this commit: https://github.com/koenlek/ros_lemtomap/tree/154c782cf8feb9112bc928e33a59728ca2192489/st_gazebo_perfect_map_generator

Comment by Eric on 2016-04-28:
The link in the post is also now dead, and should be http://gazebosim.org/tutorials?tut=custom_messages

Comment by simff on 2018-01-06:
I also need a ground truth for my map, is this generator package still somewhere available?

Comment by shaihi on 2018-02-07:
All links are now dead - both in answer and in comments... Must admit that the answers experience of Gazebo is very bad...

Comment by chapulina on 2018-02-07:
There's a bug in Askbot which adds some garbage to the end of the link, you should be able to copy it and paste on your browser. All the links are working for me like this.

Comment by shaihi on 2018-02-08:
Thanks! Works well with copy&paste.

Comment by hyfan1116 on 2018-11-14:
Recreated the package (Kinetic) in case someone needs it: https://github.com/hyfan1116/pgm_map_creator

Comment by tsdk00 on 2019-05-05:
Does it work only on Gazebo 9, since it throws an error on Gazebo 7 while doing catkin_make?


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