Insert Real-world Maps

[amock]

This is a TODO-issue for someone integrating real-world maps into this repository. We should at least add the pluto maps to make the ROS 2 version of mesh navigation backwards compatible with all the experiments done in the old mesh nav papers and Sebastian's dissertation. We could also collect here some instructions on how to use mesh navigation with worlds from other SOTA 2.5D navigation approaches.

Further thoughts:

• Since the pluto real-world maps are large in file size we might start using git-lfs for them (?)

[Cakem1x]

git lfs sounds like a good idea for these large maps

[amock]

Also, I'm not 100% sure where to put the maps. For now, I would prefer to create a new package so as not to clutter the existing two simple packages. For the Pluto maps, that would be something like “mesh_navigation_tutorials_pluto_sim” and “mesh_navigation_tutorials_pluto”. I would do it this way because I think the existing two packages encapsulate all the scenarios that run very smoothly on low-end computers. Adding the real maps to the existing packages would violate this.

[amock]

#14 adds at least some of the old pluto maps. But sticking to the structure, it is fairly simple to add the other ones.

[vanstrong12138]

#14 adds at least some of the old pluto maps. But sticking to the structure, it is fairly simple to add the other ones.

I used Mid360 to build an indoor map via Glim. When attempting to convert it to a mesh using LVR2, I found that even after adjusting numerous parameters, it still generated many broken surfaces. How can I achieve the same perfect conversion of real-world maps into meshes as your mesh_navigation does?

Below is the converted mesh.

Below is the glim map

[amock]

Hi @vanstrong12138 ,

Thanks for your interest. However, this issue (#3) is just to track the progress of inserting real-world maps into the mesh_navigation_tutorials. Further a small reminder: mesh_navigation itself, takes only meshes as input; no point clouds. So it is not shipped with any tools to convert point clouds to meshes. The real world maps in this repo are all created by external tools. Still, we aim to collect some workflows in the docs/tutorials that utilize external software to get meshes we can pass to mesh nav. So feel free to open a separate GH-issue for your problem. I think we can give you some hints how to solve it.

Some links:

• How can I generate Mesh map from point cloud mesh_tools#20 (comment)
• Mesh Map Generation mesh_navigation#68 (comment)
• PCD point cloud into the map mesh_navigation#77 (comment)