I am excited to present an enhanced version of the ROS2 Gazebo 2D/3D map generation plugin that resolves various difficulties encountered during map creation for ROS2 Nav2. This refined plugin presents several advancements such as a dedicated ROS2 service that halts until the map generation process is finalized, horizontal collision inspections for precise mapping of empty objects, and generation of point cloud, pgm, and YAML files. The plugin has also transitioned from a world plugin to a more encompassing system plugin. It offers added parameters to increase adaptability and comes with comprehensive examples and instructions to aid users in effectively leveraging the plugin. This progress not only simplifies the map creation workflow but also enables developers and researchers in the ROS2 community to be more proficient.
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