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Overview

This repository holds a somewhat self-contained demonstration of multi-map navigation simulations. At present, the demo displays the use of the bwi_multi_map package and how it can be used on the first two floors of the UTexas GDC building (basement and lobby).

Please consult the Running Demos package for specific commands.

Note about Gazebo and ROS versions

The multi-map Gazebo models used for these demonstrations were created in Gazebo's Building Editor function in Gazebo 5. At the time of making this, ROS Indigo was being used, which uses Gazebo 2 by default. This Gazebo 5 function is useful since it allows one to import a floorplan image and build a 3d structure on top by dragging walls, doors, etc.

However, there does not exist the ability to import more than one floorplan, so building multiple floors accurately becomes very difficult. Gazebo does support multiple floors in models, and subsequent versions of Gazebo may have updated the Building Editor to allow multiple floorplan imports.