Geckostya / maze_generator

Maze generator in ROS occupancy grid

Maze generator for ROS

There is a small program to generate mazes.

Prerequisites

• GNU Make 4.0+
• gcc 5.0+
• cpp std 14

Installation

make # or make std to clear your terminal

Example

 ./maze_generator -x 40 -y 60 -b 20 -w 5 --spaces

Output

The generator creates a ".pgm" and ".yaml" files to load in your map server

You also can change any parameters:

.yaml example:

  image: /home/kostya55516/Documents/maze_generator/out.pgm
  resolution: 0.05
  origin: [-20, -20, 0.000000]
  negate: 0
  occupied_thresh: 0.65
  free_thresh: 0.196

Warning

If you need to create largest maze ever you will have to expand your stack.

Maximum maze size is approximately 550 x 550 blocks