ROS Map Editor

A GUI tool for editing ROS map files in PGM format. This tool allows you to view and modify occupancy grid maps used in ROS (Robot Operating System) navigation.

.. image:: ./images/ui_advanced.PNG

Acknowledgements

• https://github.com/TheOnceAndFutureSmalltalker/ros_map_editor

Features

• Load and display PGM map files used in ROS
• Edit map cells (occupied, free, unknown)
• Zoom in/out for detailed editing
• Minimap for navigation in large maps
• Automatically saves changes on exit

TODO

• ☒ BOX Select

.. figure:: images/usage.gif :alt: ROS Map Editor

ROS Map Editor

• ☒ Line Select

.. figure:: images/usage_line_select.gif :alt: ROS Map Editor

ROS Map Editor

• ☐ Polygon Select
• ☐ Rapidly Loading and Editing

Installation

From PyPI

.. code:: bash

   pip install ros-map-editor

From Source

.. code:: bash

git clone https://github.com/sujit-168/ros_map_editor.git -b main cd ros_map_editor pip install -e .

Usage

Command Line

.. code:: bash

   ros-map-editor path/to/your/map

or simply:

.. code:: bash

   python3 ros_map_editor/main.py path/to/your/map

The tool will automatically look for the corresponding YAML file
(map.yaml) in the same directory.

Interface
~~~~~~~~~

-  **Zoom**: Select zoom level from the dropdown menu
-  **Color**: Choose what to draw:

   -  **Occupied**: Mark cells as obstacles (black)
   -  **Free**: Mark cells as free space (white)
   -  **Unknown**: Mark cells as unknown (gray)
   -  **Alternate**: Cycle through states with each click

-  **Minimap**: Shows your current position in the map with a red
   rectangle
-  **Drawing**: Click or drag to modify cells

Map File Format
---------------

The tool works with standard ROS map files:

-  A PGM image file containing the occupancy grid
-  A YAML file with metadata (resolution, origin, thresholds)

Example YAML file:

.. code:: yaml

   image: map.pgm
   resolution: 0.050000
   origin: [-10.000000, -10.000000, 0.000000]
   negate: 0
   occupied_thresh: 0.65
   free_thresh: 0.196

Requirements
------------

-  Python 3.6+
-  PyQt5
-  Pillow (PIL)
-  PyYAML

License
-------

Public domain

Contributing
------------

Contributions are welcome! Please feel free to submit a Pull Request.