{"id":19004612,"url":"https://github.com/osll/slam-dataset-generation","last_synced_at":"2026-06-13T21:32:12.843Z","repository":{"id":79018181,"uuid":"136311821","full_name":"OSLL/slam-dataset-generation","owner":"OSLL","description":"Repository for a set of tools used to generate simulated datasets for use in developing SLAM 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Dataset generation tool for SLAM in ROS\n\nThis tools could help you to make a dataset for testing SLAM algorithms in ROS\n\nHow do I use this tool?\n\n\n## Step 1: Create a map file\n- Map files are svg files populated with [paths](https://developer.mozilla.org/en-US/docs/Web/SVG/Tutorial/Paths) that can be given ids\n- Every map file must contain **at least two** special paths\n    * **world_boundary** = a closed path that represents the outermost boundary of an environment\n        + Must be given \"world_boundary\" as an ID or it will not be recognized\n    * **robot_trajectory** = a path that represents the intermediate positions on the robot's trajectory through the environment\n        + Must be given \"robot_trajectory\" as an ID or it will not be recognized\n- In addition to those two paths, additional obstacles can be created\n    * Obstacles must be closed (*i.e.* the beginning and the end of the path must be the same)\n- Any path other than the robot_trajectory can be given a trajectory that describes the motion of the obstacle\n    * To give an obstacle a trajectory\n        1) Associate the obstacle path with a unique id(inkscape typically does this by default)\n        2) Create the trajectory path and give it an id in the form of \"${obstacle_id}_trajectory\"\n            + If a trajectory is detected but a corresponding obstacle to be associated with couldn't be found, then the parsing will fail with an error\n\n## Step 2: Build the project\n- Note that this project depends on boost\n- Steps:\n    1) Navigate to the base of the repo\n    2) Issue `catkin_make`\n\n## Step 3: Run the tool on the map file\n- Steps:\n    1) Navigate to the base of the repo\n    2) Issue `source ./devel/setup.bash`\n    3) Issue `rosrun slam-dataset-generation simulate_world \u003cpath_to_map_file\u003e`\n        * The bag file will be written to ${REPO_ROOT}/data.bag\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fosll%2Fslam-dataset-generation","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fosll%2Fslam-dataset-generation","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fosll%2Fslam-dataset-generation/lists"}