Posted by @SirFireByte:
Hey everyone,
i’ve built a map from scratch, without a reference.
However, when launching rmf_common the data field of the /floorplan topic is not filled.
The /map topic is published properly and gazebo can run the world file as well.
I dont what the issue could be.
Other maps are working well.
Following are my building.yaml file and my launchfile as well as a picture of the traffic editor.
Has anyone have an idea what the issue might be?
Edited by @SirFireByte at 2025-05-28T11:10:05Z
Chosen answer
Answer chosen by @SirFireByte at 2025-06-03T09:41:16Z.
Answered by @aaronchongth:
Hi @SirFireByte, /floorplan will not be published if there are no reference images.
rmf_visualization/rmf_visualization_floorplans/src/FloorplanVisualizer.cpp at main · open-rmf/rmf_visualization · GitHub
Posted by @aaronchongth:
Hi @SirFireByte, /floorplan will not be published if there are no reference images.
This is the chosen answer.
Posted by @SirFireByte:
Hey Aaron, adding a simple empty png with the same width and length i wanted worked. However, i expected that it would be possible to create a building.yaml wihout a reference image as you are able to enter explicit dimensions? Also is it possible to publish the added walls on the floorplan?
P.S. I’ll remove my building.yaml and launchfile as they are not relevant
Posted by @aaronchongth:
You can get the wall graph from the /map topic, which uses the building map message, rmf_building_map_msgs/rmf_building_map_msgs/msg/Level.msg at main · open-rmf/rmf_building_map_msgs · GitHub
