map.yaml format

Question

how to create map in yaml format ??

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Originally posted by ahmad malkawi on ROS Answers with karma: 21 on 2012-08-31

Post score: 1

Answer 1

The [map_name].yaml file only contains metadata about the map, which is given as a separate [map_name].pgm image file. You can create maps by using a SLAM algorithm and saving it using the map_saver tool. In principle, you can also edit maps by editing .pgm files with a graphics editing program of your choice.

Most relevant information can be found on the map_server wiki page.

How to generate maps with SLAM algorithms is described here (gmapping) and here (hector_mapping).

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Originally posted by Stefan Kohlbrecher with karma: 24361 on 2012-08-31

This answer was ACCEPTED on the original site

Post score: 5

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Original comments

Comment by 2ROS0 on 2014-07-15:
So I can use GIMP to make a map even? If I then go on to write the meta-data (.yaml) file myself? What colors should I use for the map? Thank you.