https://github.com/danielsnider/MapViz-Tile-Map-Google-Maps-Satellite

ROS Offline Google Maps for MapViz
https://github.com/danielsnider/MapViz-Tile-Map-Google-Maps-Satellite

docker google-maps map-tiles mapproxy mapviz ros wmts

Last synced: about 2 months ago
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ROS Offline Google Maps for MapViz

• Host: GitHub
• URL: https://github.com/danielsnider/MapViz-Tile-Map-Google-Maps-Satellite
• Owner: danielsnider
• Created: 2017-02-12T23:12:27.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2017-08-15T00:04:26.000Z (about 7 years ago)
• Last Synced: 2024-07-16T13:06:47.348Z (2 months ago)
• Topics: docker, google-maps, map-tiles, mapproxy, mapviz, ros, wmts
• Homepage:
• Size: 617 KB
• Stars: 91
• Watchers: 5
• Forks: 28
• Open Issues: 6
• Metadata Files:
  • Readme: README.md

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README

        
# ROS Offline Google Maps for MapViz

### MapViz (Tile_Map plugin) <-- MapProxy (docker container) <-- Google Maps Satellite

This will walk you through using [MapProxy in a docker container](https://github.com/danielsnider/docker-mapproxy-googlemaps) to proxy Google Maps satellite view into a [WMTS](https://en.wikipedia.org/wiki/Web_Map_Tile_Service) tile service so that it can be viewed by ROS's [MapViz Tile Map plugin](https://github.com/swri-robotics/mapviz#tile-map). Support for offline maps after loading once, maps stay cached. For outdoor robotics and vehicles.

### `tldr:`

```

$ sudo docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy

Then put this URL into the MapViz option "Custom WMTS Source..." http://localhost:8080/wmts/gm_layer/gm_grid/{level}/{x}/{y}.png

```

Result:

![screenshot](https://github.com/danielsnider/MapViz-Tile-Map-Google-Maps-Satellite/raw/master/screenshot.png)

MapViz documentation: http://wiki.ros.org/mapviz

## Dependencies

- Docker

- ROS

- MapViz and with following plugins: 

```

sudo apt-get install ros-kinetic-mapviz ros-kinetic-mapviz-plugins ros-kinetic-tile-map

```

## Setup

### 1. Create MapProxy server

1.1. Create the MapProxy configuration folder. The cached map tiles will be written to `~/mapproxy/cache_data`.

```

mkdir ~/mapproxy

```

1.2 (Optionally) add your own `mapproxy.yaml` configuration file to override the default of proxying Google Maps satellite view over WMTS protocol.

```

cp mapproxy.yaml ~/mapproxy/mapproxy.yaml

```

1.3. Start the MapProxy server with `~/mapproxy` as a shared volume. 

```

sudo docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy

```

1.4. Confirm MapProxy is working by browsing to [http://127.0.0.1:8080/demo/](http://127.0.0.1:8080/demo/). You will see the MapProxy logo and if you click on "Image-format png" you will get an interactive map in your browser. 

You can also see the first map tile by browsing to [http://localhost:8080/wmts/gm_layer/gm_grid/0/0/0.png](http://localhost:8080/wmts/gm_layer/gm_grid/0/0/0.png).

### 2. Setup MapViz

2.1. Open MapViz using ROS

```

roslaunch mapviz mapviz.launch

```

2.2. Click the "Add" button. 

2.3. Choose to add a new `map_tile` display component.

2.4. In the "Source" dropdown select "Custom WMTS Source...".

2.5. In the "Base URL:" field enter the following:

```

http://localhost:8080/wmts/gm_layer/gm_grid/{level}/{x}/{y}.png

```

2.6. In the "Max Zoom:" field enter `19`

2.7. Click "Save..."

Congrats! You should now see Google Maps load in MapViz.

## FAQ

### Offline Support?

Any maps that you load will be cached to `~/mapproxy/cache_data` and will be available offline.

### Where are MapProxy's cached files?

```

~/mapproxy/cache_data

```

### How to set a default MapViz position?

```

$ vim ~/.mapviz_config 

# edit the following

offset_x: 1181506

offset_y: -992564.2

```

OR using ROS parameters:

```

$ roscd mapviz

$ vim launch/mapviz.launch

    

    

        

        

        

            [{ name: swri,

             latitude: 37.9879772, 

             longitude: 23.9078602, 

             altitude: 129.69,

             heading: 0.0}]

        

    

    

```

### How to publish GPS coordinates over ROS?

```

rostopic pub /novatel/fix sensor_msgs/NavSatFix "{latitude: 38.406222, longitude: -110.792027}"

```

### Note for corporate users

In 2013 there was [some discussion](http://gis.stackexchange.com/questions/56982/how-to-use-mapproxy-to-serve-wms-from-reprojected-google-maps-tiles) about Google's Terms & Conditions stating that you are only allowed to access the tiles through Google's API (ie. not MapProxy). 

### Project Motivation

Built for competing in the [University Rover Competition](http://urc.marssociety.org/) by Ryerson University's http://teamr3.ca/ robot club.