# SDF2MAP → Generate ROS 2D Maps Directly from GzSim Worlds

**URL:** <https://discourse.openrobotics.org/t/sdf2map-generate-ros-2d-maps-directly-from-gzsim-worlds/50598>\
**Category:** ROS General\
**Tags:** release, ros2, gazebo\
**Created:** [October 18, 2025, 8:24pm UTC](https://discourse.openrobotics.org/t/sdf2map-generate-ros-2d-maps-directly-from-gzsim-worlds/50598 "2025-10-18T20:24:44Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Sherif\_Fathey](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/sherif_fathey/32/25473_2.png) [@Sherif\_Fathey](https://discourse.openrobotics.org/u/Sherif_Fathey)\
**Post date:** [October 18, 2025, 8:24pm UTC](https://discourse.openrobotics.org/t/sdf2map-generate-ros-2d-maps-directly-from-gzsim-worlds/50598/1 "2025-10-18T20:24:44Z")

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SDF2MAP — SDF to Occupancy Map Converter

SDF2MAP is a lightweight desktop tool that converts Gazebo SDF / World files into 2D occupancy grid maps compatible with the ROS navigation stack.

It automates generating .pgm and .yaml maps directly from simulation environments — eliminating the need for manual map creation.

- Quickly test navigation and localization algorithms using GzSim maps.

- Extract 2D map layers at specific heights to match your robot’s LIDAR sensor placement.

- Seamlessly handle worlds generated by PyRoboSim.

Download & Run:

Get the latest release and instructions from GitHub:

> **[GitHub - sherif1152/SDF2MAP](https://github.com/sherif1152/SDF2MAP)**
>
> Contribute to sherif1152/SDF2MAP development by creating an account on GitHub.

 ![Screenshot from 2025-10-18 20-31-19](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/6/e/6e9745d9c596c7aff386eb17be0388e8c955d08f.png)  
 ![Screenshot from 2025-10-18 23-22-50](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/5/0/506e7f6ec68229d3ac30c56a03488893e57a35db.jpeg)  
 ![Screenshot from 2025-10-18 23-22-58](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/a/e/aeee7c952d0f39e54748de3d8e46ca0ea2d1239b.jpeg)