Nav2_gps_Cartographer

create global cost map (2d occupancy grid) for nav2 from GPS coordinates

Usage

extract layer and Create csv for polygon

python3 maplayer.py --lat "53.11222" --lon "8.82983" --radius 200

python maplayer.py --osm-link "https://www.openstreetmap.org/way/330599214"

create 2d occupancy gridmap

python3 gpsToNav2map.py --resolution=1 --map_image_name=my_map.pgm --map_yaml_name=my_map.yaml