From a6b1c80c6d4f22a9f9b934da3f8b52a18e3ed280 Mon Sep 17 00:00:00 2001
From: Stan Brown <stan.j.brown@gmail.com>
Date: Mon, 26 Sep 2016 14:12:42 -0400
Subject: [PATCH] basic version

---
 CMakeLists.txt                                |    27 +
 contour_files/office3.dat                     |   517 +
 gazebo_worlds/office3.world                   | 16011 ++++++++++++++++
 install_scripts/install_dependencies.bash     |    13 +
 launch/generate_world_and_contours.launch     |    11 +
 launch/launch_gazebo_world.launch             |    13 +
 maps/example_map.pgm                          |   Bin 0 -> 2145055 bytes
 maps/example_map.yaml                         |     6 +
 maps/example_map_inverted_and_rescaled.pgm    |   Bin 0 -> 11553 bytes
 maps/example_map_inverted_and_rescaled.yaml   |     6 +
 maps/map.pgm                                  |     5 +
 maps/map_cleanedup.pgm                        |   Bin 0 -> 142538 bytes
 maps/map_cleanedup.yaml                       |     6 +
 maps/office3.pgm                              |   Bin 0 -> 454698 bytes
 maps/office3.yaml                             |     7 +
 package.xml                                   |    20 +
 python_scripts/.ropeproject/config.py         |    96 +
 python_scripts/.ropeproject/globalnames       |     3 +
 python_scripts/.ropeproject/history           |     1 +
 python_scripts/.ropeproject/objectdb          |     1 +
 python_scripts/createGazeboWorld.py           |   166 +
 python_scripts/createGazeboWorld.pyc          |   Bin 0 -> 6499 bytes
 python_scripts/generate_world_and_contours.py |   102 +
 python_scripts/visvalingamWhyatt.py           |   453 +
 python_scripts/visvalingamWhyatt.pyc          |   Bin 0 -> 19336 bytes
 run.sh                                        |     7 +
 26 files changed, 17471 insertions(+)
 create mode 100644 CMakeLists.txt
 create mode 100644 contour_files/office3.dat
 create mode 100644 gazebo_worlds/office3.world
 create mode 100644 install_scripts/install_dependencies.bash
 create mode 100644 launch/generate_world_and_contours.launch
 create mode 100644 launch/launch_gazebo_world.launch
 create mode 100644 maps/example_map.pgm
 create mode 100644 maps/example_map.yaml
 create mode 100644 maps/example_map_inverted_and_rescaled.pgm
 create mode 100644 maps/example_map_inverted_and_rescaled.yaml
 create mode 100644 maps/map.pgm
 create mode 100644 maps/map_cleanedup.pgm
 create mode 100644 maps/map_cleanedup.yaml
 create mode 100644 maps/office3.pgm
 create mode 100644 maps/office3.yaml
 create mode 100644 package.xml
 create mode 100644 python_scripts/.ropeproject/config.py
 create mode 100644 python_scripts/.ropeproject/globalnames
 create mode 100644 python_scripts/.ropeproject/history
 create mode 100644 python_scripts/.ropeproject/objectdb
 create mode 100755 python_scripts/createGazeboWorld.py
 create mode 100644 python_scripts/createGazeboWorld.pyc
 create mode 100755 python_scripts/generate_world_and_contours.py
 create mode 100755 python_scripts/visvalingamWhyatt.py
 create mode 100644 python_scripts/visvalingamWhyatt.pyc
 create mode 100644 run.sh

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..f0572ab
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(octomap_to_gazebo)
+find_package(catkin REQUIRED
+    move_base_msgs
+    actionlib
+)
+
+
+#Prepare the catkin_package
+catkin_package(
+    CATKIN_DEPENDS move_base_msgs actionlib
+)
+
+
+# Install python scripts into the correct location
+# catkin_python_setup()
+
+catkin_install_python(PROGRAMS
+    python_scripts/generate_world_and_contours.py
+    python_scripts/createGazeboWorld.py
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+        PATTERN ".svn" EXCLUDE
+)
diff --git a/contour_files/office3.dat b/contour_files/office3.dat
new file mode 100644
index 0000000..c553702
--- /dev/null
+++ b/contour_files/office3.dat
@@ -0,0 +1,517 @@
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diff --git a/gazebo_worlds/office3.world b/gazebo_worlds/office3.world
new file mode 100644
index 0000000..e08ec6d
--- /dev/null
+++ b/gazebo_worlds/office3.world
@@ -0,0 +1,16011 @@
+<?xml version='1.0'?>
+        <sdf version='1.4'>
+            <world name='1_wall'>
+                <light name='sun' type='directional'>
+                    <cast_shadows>1</cast_shadows>
+                    <pose>0 0 10 0 -0 0</pose>
+                    <diffuse>0.8 0.8 0.8 1</diffuse>
+                    <specular>0.2 0.2 0.2 1</specular>
+                    <attenuation>
+                    <range>1000</range>
+                    <constant>0.9</constant>
+                    <linear>0.01</linear>
+                    <quadratic>0.001</quadratic>
+                    </attenuation>
+                    <direction>-0.5 0.1 -0.9</direction>
+                </light>
+                <model name='ground_plane'>
+                    <static>1</static>
+                    <link name='link'>
+                        <collision name='collision'>
+                        <geometry>
+                            <plane>
+                                <normal>0 0 1</normal>
+                                <size>1000 1000</size>
+                            </plane>
+                        </geometry>
+                        <surface>
+                            <friction>
+                                <ode>
+                                    <mu>100</mu>
+                                    <mu2>50</mu2>
+                                </ode>
+                            </friction>
+                            <bounce/>
+                                <contact>
+                                    <ode/>
+                                </contact>
+                        </surface>
+                        <max_contacts>10</max_contacts>
+                        </collision>
+                    <visual name='visual'>
+                        <cast_shadows>0</cast_shadows>
+                        <geometry>
+                            <plane>
+                                <normal>0 0 1</normal>
+                                <size>10000 10000</size>
+                            </plane>
+                            </geometry>
+                                <material>
+                                <script>
+                                        <uri>file://media/materials/scripts/gazebo.material</uri>
+                                        <name>Gazebo/Grey</name>
+                                        </script>
+                                    </material>
+                    </visual>
+                    <velocity_decay>
+                        <linear>0</linear>
+                        <angular>0</angular>
+                    </velocity_decay>
+                    <self_collide>0</self_collide>
+                        <kinematic>0</kinematic>
+                        <gravity>1</gravity>
+                    </link>
+                </model>
+                <physics type='ode'>
+                    <max_step_size>0.01</max_step_size>
+                    <real_time_factor>1</real_time_factor>
+                    <real_time_update_rate>100</real_time_update_rate>
+                    <gravity>0 0 -9.8</gravity>
+                </physics>
+            <scene>
+                <ambient>0.4 0.4 0.4 1</ambient>
+                <background>0.7 0.7 0.7 1</background>
+                <shadows>1</shadows>
+            </scene>
+    <model name='Wall_0'>
+     <static>1</static>
+    <link name='Wall_0'>
+    <collision name='Wall_Collision_0'>
+        <geometry>
+          <box>
+            <size>3.85 0.2 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_Visual_0'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.85 0.2 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0</linear>
+        <angular>0</angular>
+      </velocity_decay>
+      <pose>16.275 6.15 0 0 0 3.14159265359</pose>
+    </link>
+     </model><model name='Wall_1'>
+     <static>1</static>
+    <link name='Wall_1'>
+    <collision name='Wall_Collision_1'>
+        <geometry>
+          <box>
+            <size>0.8 0.2 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_Visual_1'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.8 0.2 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0</linear>
+        <angular>0</angular>
+      </velocity_decay>
+      <pose>14.35 6.55 0 0 0 1.57079632679</pose>
+    </link>
+     </model><model name='Wall_2'>
+     <static>1</static>
+    <link name='Wall_2'>
+    <collision name='Wall_Collision_2'>
+        <geometry>
+          <box>
+            <size>0.0707106781187 0.2 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_Visual_2'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0707106781187 0.2 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
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\ No newline at end of file
diff --git a/install_scripts/install_dependencies.bash b/install_scripts/install_dependencies.bash
new file mode 100644
index 0000000..6276865
--- /dev/null
+++ b/install_scripts/install_dependencies.bash
@@ -0,0 +1,13 @@
+#!/bin/bash
+
+install_dependencies()
+{
+   sudo apt-get update
+   sudo apt-get install -y \
+        subversion \
+        cmake \
+        libopencv-dev \
+	    ros-indigo-navigation
+}
+
+install_dependencies
diff --git a/launch/generate_world_and_contours.launch b/launch/generate_world_and_contours.launch
new file mode 100644
index 0000000..75d0958
--- /dev/null
+++ b/launch/generate_world_and_contours.launch
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+
+<launch>
+    <arg name = "occupancy_grid_name" default = "office3" />
+    <arg name = "contour_file_name" default = "$(arg occupancy_grid_name).dat" />
+    <arg name = "gazebo_world_name" default = "$(arg occupancy_grid_name).world" />
+        <param name="occupancy_grid_name" type="string" value="$(find octomap_to_gazebo)/maps/$(arg occupancy_grid_name)"/>
+        <param name="contour_file" type="string" value="$(find octomap_to_gazebo)/contour_files/$(arg contour_file_name)"/>
+        <param name="gazebo_world_file" type="string" value="$(find octomap_to_gazebo)/gazebo_worlds/$(arg gazebo_world_name)"/>
+    <node name="generate_world_and_contours" pkg="octomap_to_gazebo" type="generate_world_and_contours.py" output="screen" />
+</launch>
diff --git a/launch/launch_gazebo_world.launch b/launch/launch_gazebo_world.launch
new file mode 100644
index 0000000..bb262e9
--- /dev/null
+++ b/launch/launch_gazebo_world.launch
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+
+<launch>
+    <arg name="world" default = " " />
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(find octomap_to_gazebo)/gazebo_worlds/$(arg world)"/>
+        <arg name="paused" value="false"/>
+        <arg name="use_sim_time" value="true"/>
+        <arg name="gui" value="true"/>
+        <arg name="headless" value="false"/>
+        <arg name="debug" value="false"/>
+    </include>
+</launch>
diff --git a/maps/example_map.pgm b/maps/example_map.pgm
new file mode 100644
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diff --git a/maps/example_map.yaml b/maps/example_map.yaml
new file mode 100644
index 0000000..b60e4ee
--- /dev/null
+++ b/maps/example_map.yaml
@@ -0,0 +1,6 @@
+image: example_map.pgm
+resolution: 0.05
+origin: [0.0, 0.0, 0.0]
+occupied_thresh: 0.65
+free_thresh: 0.196
+negate: 0
diff --git a/maps/example_map_inverted_and_rescaled.pgm b/maps/example_map_inverted_and_rescaled.pgm
new file mode 100644
index 0000000000000000000000000000000000000000..f1558916bdb045f8191c08f294010afcebfb9210
GIT binary patch
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diff --git a/maps/example_map_inverted_and_rescaled.yaml b/maps/example_map_inverted_and_rescaled.yaml
new file mode 100644
index 0000000..bf11ab7
--- /dev/null
+++ b/maps/example_map_inverted_and_rescaled.yaml
@@ -0,0 +1,6 @@
+image: example_map_inverted_and_rescaled.pgm
+resolution: 0.05
+origin: [0.0, 0.0, 0.0]
+occupied_thresh: 0.65
+free_thresh: 0.196
+negate: 0
diff --git a/maps/map.pgm b/maps/map.pgm
new file mode 100644
index 0000000..d2e279e
--- /dev/null
+++ b/maps/map.pgm
@@ -0,0 +1,5 @@
+P5
+# CREATOR: Map_generator.cpp 0.050 m/pix
+437 397
+255
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diff --git a/maps/map_cleanedup.yaml b/maps/map_cleanedup.yaml
new file mode 100644
index 0000000..b30c9b9
--- /dev/null
+++ b/maps/map_cleanedup.yaml
@@ -0,0 +1,6 @@
+image: map_cleanedup.pgm
+resolution: 0.20
+origin: [0.0, 0.0, 0.0]
+occupied_thresh: 0.65
+free_thresh: 0.196
+negate: 0
diff --git a/maps/office3.pgm b/maps/office3.pgm
new file mode 100644
index 0000000000000000000000000000000000000000..f59f90bfa3e06350306eda8fb1b3927b967c65cd
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diff --git a/maps/office3.yaml b/maps/office3.yaml
new file mode 100644
index 0000000..db8ffb9
--- /dev/null
+++ b/maps/office3.yaml
@@ -0,0 +1,7 @@
+image: office3.pgm
+resolution: 0.050000
+origin: [-19.569897, -12.900627, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..c3f6c2f
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<package>
+    <name>octomap_to_gazebo</name>
+    <version>0.1.0</version>
+    <description>Converts an occupancy grid to a simple gazebo world file</description>
+    <maintainer email="stan.j.brown@gmail.com">Stan Brown</maintainer>
+    <author>Stan Brown</author>
+    <license>LGPL</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+ 
+    <build_depend>using_markers</build_depend>
+    <build_depend>move_base_msgs</build_depend>
+    <build_depend>actionlib</build_depend>
+
+    <run_depend>using_markers</run_depend>
+    <run_depend>move_base_msgs</run_depend>
+    <run_depend>actionlib</run_depend>
+
+</package>
diff --git a/python_scripts/.ropeproject/config.py b/python_scripts/.ropeproject/config.py
new file mode 100644
index 0000000..3745e30
--- /dev/null
+++ b/python_scripts/.ropeproject/config.py
@@ -0,0 +1,96 @@
+# The default ``config.py``
+
+
+def set_prefs(prefs):
+    """This function is called before opening the project"""
+
+    # Specify which files and folders to ignore in the project.
+    # Changes to ignored resources are not added to the history and
+    # VCSs.  Also they are not returned in `Project.get_files()`.
+    # Note that ``?`` and ``*`` match all characters but slashes.
+    # '*.pyc': matches 'test.pyc' and 'pkg/test.pyc'
+    # 'mod*.pyc': matches 'test/mod1.pyc' but not 'mod/1.pyc'
+    # '.svn': matches 'pkg/.svn' and all of its children
+    # 'build/*.o': matches 'build/lib.o' but not 'build/sub/lib.o'
+    # 'build//*.o': matches 'build/lib.o' and 'build/sub/lib.o'
+    prefs['ignored_resources'] = [
+        '*.pyc', '*~', '.ropeproject', '.hg', '.svn', '_svn', '.git',
+        '.tox', '.env', 'node_modules', 'bower_components']
+
+    # Specifies which files should be considered python files.  It is
+    # useful when you have scripts inside your project.  Only files
+    # ending with ``.py`` are considered to be python files by
+    # default.
+    #prefs['python_files'] = ['*.py']
+
+    # Custom source folders:  By default rope searches the project
+    # for finding source folders (folders that should be searched
+    # for finding modules).  You can add paths to that list.  Note
+    # that rope guesses project source folders correctly most of the
+    # time; use this if you have any problems.
+    # The folders should be relative to project root and use '/' for
+    # separating folders regardless of the platform rope is running on.
+    # 'src/my_source_folder' for instance.
+    #prefs.add('source_folders', 'src')
+
+    # You can extend python path for looking up modules
+    #prefs.add('python_path', '~/python/')
+
+    # Should rope save object information or not.
+    prefs['save_objectdb'] = True
+    prefs['compress_objectdb'] = False
+
+    # If `True`, rope analyzes each module when it is being saved.
+    prefs['automatic_soa'] = True
+    # The depth of calls to follow in static object analysis
+    prefs['soa_followed_calls'] = 0
+
+    # If `False` when running modules or unit tests "dynamic object
+    # analysis" is turned off.  This makes them much faster.
+    prefs['perform_doa'] = True
+
+    # Rope can check the validity of its object DB when running.
+    prefs['validate_objectdb'] = True
+
+    # How many undos to hold?
+    prefs['max_history_items'] = 32
+
+    # Shows whether to save history across sessions.
+    prefs['save_history'] = True
+    prefs['compress_history'] = False
+
+    # Set the number spaces used for indenting.  According to
+    # :PEP:`8`, it is best to use 4 spaces.  Since most of rope's
+    # unit-tests use 4 spaces it is more reliable, too.
+    prefs['indent_size'] = 4
+
+    # Builtin and c-extension modules that are allowed to be imported
+    # and inspected by rope.
+    prefs['extension_modules'] = []
+
+    # Add all standard c-extensions to extension_modules list.
+    prefs['import_dynload_stdmods'] = True
+
+    # If `True` modules with syntax errors are considered to be empty.
+    # The default value is `False`; When `False` syntax errors raise
+    # `rope.base.exceptions.ModuleSyntaxError` exception.
+    prefs['ignore_syntax_errors'] = False
+
+    # If `True`, rope ignores unresolvable imports.  Otherwise, they
+    # appear in the importing namespace.
+    prefs['ignore_bad_imports'] = False
+
+    # If `True`, rope will transform a comma list of imports into
+    # multiple separate import statements when organizing
+    # imports.
+    prefs['split_imports'] = False
+
+    # If `True`, rope will sort imports alphabetically by module name
+    # instead of alphabetically by import statement, with from imports
+    # after normal imports.
+    prefs['sort_imports_alphabetically'] = False
+
+
+def project_opened(project):
+    """This function is called after opening the project"""
+    # Do whatever you like here!
diff --git a/python_scripts/.ropeproject/globalnames b/python_scripts/.ropeproject/globalnames
new file mode 100644
index 0000000..ac4e6c1
--- /dev/null
+++ b/python_scripts/.ropeproject/globalnames
@@ -0,0 +1,3 @@
+€}q
(Ugenerate_world_and_contours]q(U	hierarchyqUoccupancy_grid_nameqUimgqUretqUcontoursqUgazebo_fileqUoccupancy_grid_yamlq	Uscaleq
+UconfigsqUimgrayqUwriteGazeboAndDatFilesq
Ucontour_fileqUoccupancy_grid_fileqU
fUwriteContourToDatfileqUoutput_contour_filenameqUmap_nameqUthreshqUoutput_gazebo_filenameqeUcreateGazeboWorld]q(UwriteSvnHeadersqUwriteContourToWorldFileqUmidpointqU	writeWallqUgetDirectionqUcloseWorldFileqeUcontours]q(UwriteGazeboAndDatFilesqUgazebo_fileqU
min_perimeterqUimgq U
fU	hierarchyq!Uepsilonq"UwriteContourToDatfileq#Uretq$Uthreshq%Uscaleq&Uimgrayq'Ucontoursq(eUVisvalingam-Whyatt]q)(U
+simplifierq*Ufancy_parametricq+Uptsq,Uxtq-U
WKTSimplifierq.Uendq/UVWSimplifierq0UGDALSimplifierq1Utriangle_areas_from_arrayq2Ustartq3Uthetasq4U
triangle_areaq5Uytq6Uremoveq7U
nU
peu.
\ No newline at end of file
diff --git a/python_scripts/.ropeproject/history b/python_scripts/.ropeproject/history
new file mode 100644
index 0000000..fcd9c96
--- /dev/null
+++ b/python_scripts/.ropeproject/history
@@ -0,0 +1 @@
+€]q
(]q]qe.
\ No newline at end of file
diff --git a/python_scripts/.ropeproject/objectdb b/python_scripts/.ropeproject/objectdb
new file mode 100644
index 0000000..29c40cd
--- /dev/null
+++ b/python_scripts/.ropeproject/objectdb
@@ -0,0 +1 @@
+€}q
.
\ No newline at end of file
diff --git a/python_scripts/createGazeboWorld.py b/python_scripts/createGazeboWorld.py
new file mode 100755
index 0000000..8e154c4
--- /dev/null
+++ b/python_scripts/createGazeboWorld.py
@@ -0,0 +1,166 @@
+#!/usr/bin/env python
+
+from string import Template
+from numpy import arctan2, sqrt
+
+def writeSvnHeaders(f):
+    s = """<?xml version='1.0'?>
+        <sdf version='1.4'>
+            <world name='1_wall'>
+                <light name='sun' type='directional'>
+                    <cast_shadows>1</cast_shadows>
+                    <pose>0 0 10 0 -0 0</pose>
+                    <diffuse>0.8 0.8 0.8 1</diffuse>
+                    <specular>0.2 0.2 0.2 1</specular>
+                    <attenuation>
+                    <range>1000</range>
+                    <constant>0.9</constant>
+                    <linear>0.01</linear>
+                    <quadratic>0.001</quadratic>
+                    </attenuation>
+                    <direction>-0.5 0.1 -0.9</direction>
+                </light>
+                <model name='ground_plane'>
+                    <static>1</static>
+                    <link name='link'>
+                        <collision name='collision'>
+                        <geometry>
+                            <plane>
+                                <normal>0 0 1</normal>
+                                <size>1000 1000</size>
+                            </plane>
+                        </geometry>
+                        <surface>
+                            <friction>
+                                <ode>
+                                    <mu>100</mu>
+                                    <mu2>50</mu2>
+                                </ode>
+                            </friction>
+                            <bounce/>
+                                <contact>
+                                    <ode/>
+                                </contact>
+                        </surface>
+                        <max_contacts>10</max_contacts>
+                        </collision>
+                    <visual name='visual'>
+                        <cast_shadows>0</cast_shadows>
+                        <geometry>
+                            <plane>
+                                <normal>0 0 1</normal>
+                                <size>10000 10000</size>
+                            </plane>
+                            </geometry>
+                                <material>
+                                <script>
+                                        <uri>file://media/materials/scripts/gazebo.material</uri>
+                                        <name>Gazebo/Grey</name>
+                                        </script>
+                                    </material>
+                    </visual>
+                    <velocity_decay>
+                        <linear>0</linear>
+                        <angular>0</angular>
+                    </velocity_decay>
+                    <self_collide>0</self_collide>
+                        <kinematic>0</kinematic>
+                        <gravity>1</gravity>
+                    </link>
+                </model>
+                <physics type='ode'>
+                    <max_step_size>0.01</max_step_size>
+                    <real_time_factor>1</real_time_factor>
+                    <real_time_update_rate>100</real_time_update_rate>
+                    <gravity>0 0 -9.8</gravity>
+                </physics>
+            <scene>
+                <ambient>0.4 0.4 0.4 1</ambient>
+                <background>0.7 0.7 0.7 1</background>
+                <shadows>1</shadows>
+            </scene>
+    """
+    f.write(s)
+
+
+def midpoint(x1, x2):
+    xout = x1 + (x2 - x1) / 2.0
+    return xout
+
+
+def getDirection(x1, x2, y1, y2):
+    return arctan2((y2 - y1), (x2 - x1))
+
+
+# def length(x1, x2):
+#     return abs(x2 - x1)
+
+
+def writeWall(point_1, point_2, i, scale, gazebo_file):
+    s = Template("""<model name='Wall_$index'>
+     <static>1</static>
+    <link name='Wall_$index'>
+    <collision name='Wall_Collision_$index'>
+        <geometry>
+          <box>
+            <size>$length $width $height</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_Visual_$index'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>$length $width $height</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0</linear>
+        <angular>0</angular>
+      </velocity_decay>
+      <pose>$x_mid $y_mid 0 0 0 $direction</pose>
+    </link>
+     </model>""")
+
+    x1 = point_1[0] * scale
+    y1 = point_1[1] * scale
+
+    x2 = point_2[0] * scale
+    y2 = point_2[1] * scale
+
+    mid_x = midpoint(x1, x2)
+    mid_y = midpoint(y1, y2)
+
+    cnt_direction = getDirection(x1, x2, y1, y2)
+    cnt_length = sqrt((x1 - x2)**2 + (y1 - y2)**2)
+    # print("x1 = $f, y1 = $f, y2= $f, x2 = %f", x1, y1, x2, y2)
+    wall_string = s.substitute(index=i, length=cnt_length,
+                               width=0.2, height=2.5,
+                               x_mid=mid_x, y_mid=mid_y,
+                               direction=cnt_direction)
+    gazebo_file.write(wall_string)
+
+
+def writeContourToWorldFile(contour, scale, gazebo_file, wall_num):
+    for i in xrange(len(contour)):
+        writeWall(contour[i-1], contour[i], wall_num, scale, gazebo_file)
+        wall_num += 1
+        # print len(contours)
+        # print len(cnt)
+        # for j in xrange(len(cnt)):
+    return wall_num
+
+
+def closeWorldFile(gazebo_file):
+    s = """</world>
+        </sdf>"""
+    gazebo_file.write(s)
+    gazebo_file.close()
diff --git a/python_scripts/createGazeboWorld.pyc b/python_scripts/createGazeboWorld.pyc
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diff --git a/python_scripts/generate_world_and_contours.py b/python_scripts/generate_world_and_contours.py
new file mode 100755
index 0000000..3524509
--- /dev/null
+++ b/python_scripts/generate_world_and_contours.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python
+
+import rospy
+import cv2
+import yaml
+import os.path
+import matplotlib.pyplot as plt
+from createGazeboWorld import writeSvnHeaders
+from createGazeboWorld import writeContourToWorldFile, closeWorldFile
+from visvalingamWhyatt import VWSimplifier
+import numpy as np
+
+# def writeContourToDatfile(cnt, scale, f):
+#     f.write("%i \n" % (len(cnt)))
+#     for ii in xrange(len(cnt)):
+#         x = cnt[ii][0][0]  # * scale
+#         y = cnt[ii][0][1]  # * scale
+#         f.write("%f %f \n" % (x, y))
+
+def writeContourToDatfile(cnt, scale, f):
+    f.write("%i \n" % (len(cnt)))
+    for ii in xrange(len(cnt)):
+        x = cnt[ii][0]  # * scale
+        y = cnt[ii][1]  # * scale
+        f.write("%f %f \n" % (x, y))
+
+
+def getContourPnts(cnt):
+    pnts = []
+    for ii in xrange(len(cnt)):
+        x = cnt[ii][0][0]  # * scale
+        y = cnt[ii][0][1]  # * scale
+        pnts.append([x,y])
+    pnts = np.asarray(pnts, float)
+    return pnts
+
+
+def writeGazeboAndDatFiles(contours, scale, dat_file, gazebo_file):
+    writeSvnHeaders(gazebo_file)
+    wall_num = 0
+    for i in xrange(len(contours)):
+        # if i == 0:
+        #     continue
+        cnt = contours[i]
+        # minlength = min(epsilon, 0.1*cv2.arcLength(cnt, True))
+        # minlength = 0.01*cv2.arcLength(cnt, True)
+        # apx = cv2.approxPolyDP(cnt, minlength, True)
+        # if (cv2.arcLength(apx, True) < min_perimeter):
+        #     continue
+        pnts = getContourPnts(cnt)
+        simplifier = VWSimplifier(pnts)
+        numpnts = max(15, len(cnt) * 0.5)
+        apx = simplifier.from_number(numpnts)
+        if (len(apx) < 15):
+            continue
+        writeContourToDatfile(apx, scale, dat_file)
+        wall_num = writeContourToWorldFile(apx, scale, gazebo_file, wall_num)
+
+
+# todo: Make this take a .yaml file as an argument.
+# Improve documentation
+# pass contours using ros?
+# ignore small contours?
+# add tsp stuff
+if __name__ == '__main__':
+    occupancy_grid_name = rospy.get_param("occupancy_grid_name")
+    occupancy_grid_yaml = occupancy_grid_name + '.yaml'
+
+    print occupancy_grid_yaml
+    with open(occupancy_grid_yaml, 'r') as f:
+        configs = yaml.load(f)
+
+    scale = configs["resolution"]
+    map_name = configs["image"]
+    occupancy_grid_file = os.path.dirname(occupancy_grid_yaml) + '/' + map_name
+
+    output_contour_filename = rospy.get_param("contour_file")
+    output_gazebo_filename = rospy.get_param("gazebo_world_file")
+
+    # min_perimeter = 50
+    # epsilon = 4
+    # img = cv2.imread('FloorPlanImages/e5_rescaled2_inverted2.png')
+    img = cv2.imread(occupancy_grid_file)
+    imgray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+    ret, thresh = cv2.threshold(imgray, 206, 255, cv2.THRESH_BINARY)
+    contours, hierarchy = cv2.findContours(
+        thresh,
+        cv2.RETR_TREE,
+        cv2.CHAIN_APPROX_SIMPLE
+    )
+
+    contour_file = open(output_contour_filename, 'w+')
+    gazebo_file = open(output_gazebo_filename, 'w+')
+
+    writeGazeboAndDatFiles(contours, scale, contour_file, gazebo_file)
+    closeWorldFile(gazebo_file)
+    contour_file.close()
+
+
+cv2.drawContours(thresh, contours, -1, (225, 225, 225), 3);
+plt.imshow(thresh, interpolation="nearest")
+plt.show()
diff --git a/python_scripts/visvalingamWhyatt.py b/python_scripts/visvalingamWhyatt.py
new file mode 100755
index 0000000..bcf03f9
--- /dev/null
+++ b/python_scripts/visvalingamWhyatt.py
@@ -0,0 +1,453 @@
+#!/usr/bin/env python
+
+'''
+Visvalingam-Whyatt method of poly-line vertex reduction
+
+Visvalingam, M and Whyatt J D (1993)
+"Line Generalisation by Repeated Elimination of Points", Cartographic J., 30 (1), 46 - 51
+
+Described here:
+http://web.archive.org/web/20100428020453/http://www2.dcs.hull.ac.uk/CISRG/publications/DPs/DP10/DP10.html
+
+=========================================
+
+The MIT License (MIT)
+
+Copyright (c) 2014 Elliot Hallmark
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+================================
+'''
+
+from numpy import array, argmin
+import numpy as np
+
+
+def triangle_area(p1,p2,p3):
+    """
+    calculates the area of a triangle given its vertices
+    """
+    return abs(p1[0]*(p2[1]-p3[1])+p2[0]*(p3[1]-p1[1])+p3[0]*(p1[1]-p2[1]))/2.
+
+def triangle_areas_from_array(arr):
+    '''
+    take an (N,2) array of points and return an (N,1)
+    array of the areas of those triangles, where the first
+    and last areas are np.inf
+
+    see triangle_area for algorithm
+    '''
+    result = np.empty((len(arr),),arr.dtype)
+    result[0] = np.inf; result[-1] = np.inf
+
+    p1 = arr[:-2]
+    p2 = arr[1:-1]
+    p3 = arr[2:]
+
+    #an accumulators to avoid unnecessary intermediate arrays
+    accr = result[1:-1] #Accumulate directly into result
+    acc1 = np.empty_like(accr)
+
+    np.subtract(p2[:,1], p3[:,1], out = accr)
+    np.multiply(p1[:,0], accr,    out = accr)
+    np.subtract(p3[:,1], p1[:,1], out = acc1  )
+    np.multiply(p2[:,0], acc1,    out = acc1  )
+    np.add(acc1, accr,            out = accr)
+    np.subtract(p1[:,1], p2[:,1], out = acc1  )
+    np.multiply(p3[:,0], acc1,    out = acc1  )
+    np.add(acc1, accr,            out = accr)
+    np.abs(accr, out = accr)
+    accr /= 2.
+    #Notice: accr was writing into result, so the answer is in there
+    return result
+
+#the final value in thresholds is np.inf, which will never be
+# the min value.  So, I am safe in "deleting" an index by
+# just shifting the array over on top of it
+def remove(s,i):
+    '''
+    Quick trick to remove an item from a numpy array without
+    creating a new object.  Rather than the array shape changing,
+    the final value just gets repeated to fill the space.
+
+    ~3.5x faster than numpy.delete
+    '''
+    s[i:-1]=s[i+1:]
+
+class VWSimplifier(object):
+
+    def __init__(self,pts):
+        '''Initialize with points. takes some time to build
+        the thresholds but then all threshold filtering later
+        is ultra fast'''
+        self.pts = np.array(pts)
+        self.thresholds = self.build_thresholds()
+        self.ordered_thresholds = sorted(self.thresholds,reverse=True)
+
+    def build_thresholds(self):
+        '''compute the area value of each vertex, which one would
+        use to mask an array of points for any threshold value.
+
+        returns a numpy.array (length of pts)  of the areas.
+        '''
+        pts = self.pts
+        nmax = len(pts)
+        real_areas = triangle_areas_from_array(pts)
+        real_indices = range(nmax)
+
+
+        # destructable copies
+        # ARG! areas=real_areas[:] doesn't make a copy!
+        areas = np.copy(real_areas)
+        i = real_indices[:]
+
+        # pick first point and set up for loop
+        min_vert = argmin(areas)
+        this_area = areas[min_vert]
+        # areas and i are modified for each point finished
+        remove(areas,min_vert)   #faster
+        # areas = np.delete(areas,min_vert) #slower
+        real_idx = i.pop(min_vert)
+
+        #cntr = 3
+        while this_area<np.inf:
+           '''min_vert was removed from areas and i.  Now,
+           adjust the adjacent areas and remove the new
+           min_vert.
+
+           Now that min_vert was filtered out, min_vert points
+           to the point after the deleted point.'''
+
+           skip = False  #modified area may be the next minvert
+
+           try:
+             right_area = triangle_area(pts[i[min_vert-1]],
+                            pts[i[min_vert]],pts[i[min_vert+1]])
+           except IndexError:
+             #trying to update area of endpoint. Don't do it
+             pass
+           else:
+             right_idx = i[min_vert]
+             if right_area <= this_area:
+                 #even if the point now has a smaller area,
+                 # it ultimately is not more significant than
+                 # the last point, which needs to be removed
+                 # first to justify removing this point.
+                 # Though this point is the next most significant
+                 right_area = this_area
+
+                 #min_vert refers to the point to the right of
+                 # the previous min_vert, so we can leave it
+                 # unchanged if it is still the min_vert
+                 skip = min_vert
+
+             #update both collections of areas
+             real_areas[right_idx] = right_area
+             areas[min_vert] = right_area
+
+           if min_vert > 1:
+             #cant try/except because 0-1=-1 is a valid index
+             left_area = triangle_area(pts[i[min_vert-2]],
+                           pts[i[min_vert-1]],pts[i[min_vert]])
+             if left_area <= this_area:
+                 #same justification as above
+                 left_area = this_area
+                 skip = min_vert-1
+             real_areas[i[min_vert-1]] = left_area
+             areas[min_vert-1] = left_area
+
+
+           #only argmin if we have too.
+           min_vert = skip or argmin(areas)
+           real_idx = i.pop(min_vert)
+           this_area = areas[min_vert]
+           #areas = np.delete(areas,min_vert) #slower
+           remove(areas,min_vert)  #faster
+           '''if sum(np.where(areas==np.inf)[0]) != sum(list(reversed(range(len(areas))))[:cntr]):
+             print "broke:",np.where(areas==np.inf)[0],cntr
+             break
+           cntr+=1
+           #if real_areas[0]<np.inf or real_areas[-1]<np.inf:
+           #  print "NO!", real_areas[0], real_areas[-1]
+           '''
+        return real_areas
+
+    def from_threshold(self,threshold):
+        return self.pts[self.thresholds >= threshold]
+
+    def from_number(self,n):
+        thresholds = self.ordered_thresholds
+        try:
+          threshold = thresholds[int(n)]
+        except IndexError:
+          return self.pts
+        return self.pts[self.thresholds > threshold]
+
+    def from_ratio(self,r):
+        if r<=0 or r>1:
+          raise ValueError("Ratio must be 0<r<=1")
+        else:
+          return self.from_number(r*len(self.thresholds))
+
+class WKTSimplifier(VWSimplifier):
+      '''VWSimplifier that returns strings suitable for WKT
+      creation'''
+      def __init__(self,*args,**kwargs):
+         if 'precision' in kwargs:
+           p=kwargs.pop('precision')
+         else:
+           p=None
+         VWSimplifier.__init__(self,*args,**kwargs)
+         self.set_precision(p)
+
+      def set_precision(self,precision):
+          if precision:
+            self.pts_as_strs = self.pts.astype('S%s'%precision)
+          else:
+            self.pts_as_strs = self.pts.astype(str)
+
+
+      '''slow
+      def from_threshold(self,threshold,precision=None):
+          arr = np.array2string(self.pts[self.thresholds > threshold],precision=precision)
+          return arr.replace('[[ ','(').replace(']]',')').replace(']\n [ ',',')
+      '''
+      def wkt_from_threshold(self,threshold, precision=None):
+          if precision:
+            self.set_precision(precision)
+          pts = self.pts_as_strs[self.thresholds >= threshold]
+          return '(%s)'%','.join(['%s %s'%(x,y) for x,y in pts])
+
+      def wkt_from_number(self,n,precision=None):
+        thresholds = self.ordered_thresholds
+        if n<3: n=3  #For polygons. TODO something better
+        try:
+          threshold = thresholds[int(n)]
+        except IndexError:
+          threshold = 0
+
+        return self.wkt_from_threshold(threshold,precision=precision)
+
+      def wkt_from_ratio(self,r,precision=None):
+        if r<=0 or r>1:
+          raise ValueError("Ratio must be 0<r<=1")
+        else:
+          return self.wkt_from_number(r*len(self.thresholds))
+
+
+
+try:
+    from django.contrib.gis.gdal import OGRGeometry,OGRException
+    from django.contrib.gis.geos import GEOSGeometry, fromstr
+except ImportError:
+    class GDALSimplifier(object):
+        '''Dummy object that would be replaced by a real one if
+           correct module exists'''
+        def __init__(*args,**kwargs):
+            print """
+                  django.contrib.gis.gdal not found.
+                  GDALSimplifier not available.
+                  """
+else:
+    from json import loads
+    import re
+    p = re.compile( '([ 0123456789.]+) ([0123456789.]+)')
+    class GDALSimplifier(object):
+      '''Warning, there is a slight loss of precision just in the
+      conversion from geometry object to numpy.array even if no
+      threshold is applied.  ie:
+
+      originalpolygeom.area   ->   413962.65495176613
+      gdalsimplifierpoly.area ->   413962.65495339036
+      '''
+      def __init__(self,geom,precision=None,return_GDAL = True):
+          '''accepts a gdal.OGRGeometry or geos.GEOSGeometry
+          object and wraps multiple
+          VWSimplifiers.  set return_GDAL to False for faster
+          filtering with arrays of floats returned instead of
+          geometry objects.'''
+          global p
+          self.return_GDAL = return_GDAL
+          if isinstance(geom,OGRGeometry):
+            name = geom.geom_name
+            self.Geometry = lambda w: OGRGeometry(w,srs=geom.srs)
+            self.pts = np.array(geom.tuple)
+          elif isinstance(geom,GEOSGeometry):
+            name = geom.geom_type.upper()
+            self.Geometry = lambda w: fromstr(w)
+            self.pts = np.array(geom.tuple)
+          elif isinstance(geom, unicode) or isinstance(geom,str):
+            #assume wkt
+            #for WKT
+            def str2tuple(q):
+                return '(%s,%s)' % (q.group(1),q.group(2))
+
+            self.return_GDAL = False #don't even try
+            self.Geometry = lambda w: w #this will never be used
+            name, pts = geom.split(' ',1)
+            self.pts = loads(p.sub(str2tuple,pts).\
+                             replace('(','[').replace(')',']'))
+          self.precision = precision
+          if name == 'LINESTRING':
+            self.maskfunc = self.linemask
+            self.buildfunc = self.linebuild
+            self.fromnumfunc = self.notimplemented
+          elif name == "POLYGON":
+            self.maskfunc = self.polymask
+            self.buildfunc = self.polybuild
+            self.fromnumfunc = self.notimplemented
+          elif name == "MULTIPOLYGON":
+            self.maskfunc = self.multimask
+            self.buildfunc = self.multibuild
+            self.fromnumfunc = self.notimplemented
+          else:
+            raise OGRGeometryError("""
+             Only types LINESTRING, POLYGON and MULTIPOLYGON
+             supported, but got %s"""%name)
+          #sets self.simplifiers to a list of VWSimplifiers
+          self.buildfunc()
+
+      #rather than concise, I'd rather be explicit and clear.
+
+      def pt2str(self,pt):
+           '''make length 2 numpy.array.__str__() fit for wkt'''
+           return ' '.join(pt)
+
+      def linebuild(self):
+          self.simplifiers = [WKTSimplifier(self.pts)]
+
+      def line2wkt(self,pts):
+          return u'LINESTRING %s'%pts
+
+      def linemask(self,threshold):
+          get_pts = self.get_pts
+          pts = get_pts(self.simplifiers[0],threshold)
+          if self.return_GDAL:
+            return self.Geometry(self.line2wkt(pts))
+          else:
+            return pts
+
+      def polybuild(self):
+          list_of_pts = self.pts
+          result = []
+          for pts in list_of_pts:
+            result.append(WKTSimplifier(pts))
+          self.simplifiers = result
+
+      def poly2wkt(self,list_of_pts):
+          return u'POLYGON (%s)'%','.join(list_of_pts)
+
+      def polymask(self,threshold):
+          get_pts = self.get_pts
+          sims = self.simplifiers
+          list_of_pts = [get_pts(sim,threshold) for sim in sims]
+          if self.return_GDAL:
+            return self.Geometry(self.poly2wkt(list_of_pts))
+          else:
+            return array(list_of_pts)
+
+      def multibuild(self):
+          list_of_list_of_pts = self.pts
+          result = []
+          for list_of_pts in list_of_list_of_pts:
+            subresult = []
+            for pts in list_of_pts:
+              subresult.append(WKTSimplifier(pts))
+            result.append(subresult)
+          self.simplifiers = result
+
+      def multi2wkt(self,list_of_list_of_pts):
+          outerlist = []
+          for list_of_pts in list_of_list_of_pts:
+            outerlist.append('(%s)'%','.join(list_of_pts))
+          return u'MULTIPOLYGON (%s)'%','.join(outerlist)
+
+      def multimask(self,threshold):
+          loflofsims = self.simplifiers
+          result = []
+          get_pts = self.get_pts
+          if self.return_GDAL:
+            ret_func = lambda r: self.Geometry(self.multi2wkt(r))
+          else:
+            ret_func = lambda r: r
+          for list_of_simplifiers in loflofsims:
+            subresult = []
+            for simplifier in list_of_simplifiers:
+              subresult.append(get_pts(simplifier,threshold))
+            result.append(subresult)
+          return ret_func(result)
+
+      def notimplemented(self,n):
+          print "This function is not yet implemented"
+
+      def from_threshold(self,threshold):
+          precision = self.precision
+          if self.return_GDAL:
+            self.get_pts = lambda obj,t: obj.wkt_from_threshold(t,precision)
+          else:
+            self.get_pts = lambda obj,t: obj.from_threshold(t)
+          return self.maskfunc(threshold)
+
+      def from_number(self,n):
+          precision = self.precision
+          if self.return_GDAL:
+            self.get_pts = lambda obj,t: obj.wkt_from_number(t,precision)
+          else:
+            self.get_pts = lambda obj,t: obj.from_number(t)
+          return self.maskfunc(n)
+
+      def from_ratio(self,r):
+          precision = self.precision
+          if self.return_GDAL:
+            self.get_pts = lambda obj,t: obj.wkt_from_ratio(t,precision)
+          else:
+            self.get_pts = lambda obj,t: obj.from_ratio(t)
+          return self.maskfunc(r)
+
+
+def fancy_parametric(k):
+    ''' good k's: .33,.5,.65,.7,1.3,1.4,1.9,3,4,5'''
+    cos = np.cos
+    sin = np.sin
+    xt = lambda t: (k-1)*cos(t) + cos(t*(k-1))
+    yt = lambda t: (k-1)*sin(t) - sin(t*(k-1))
+    return xt,yt
+
+if __name__ == "__main__":
+
+   from time import time
+   n = 10000
+   thetas = np.linspace(0,16*np.pi,n)
+   xt,yt = fancy_parametric(1.4)
+   pts = np.array([[xt(t),yt(t)] for t in thetas])
+   print pts
+   start = time()
+   simplifier = VWSimplifier(pts)
+   pts = simplifier.from_number(50)
+   end = time()
+   print "%s vertices removed in %02f seconds"%(n-len(pts), end-start)
+
+   import matplotlib
+   matplotlib.use('AGG')
+   import matplotlib.pyplot as plot
+   plot.plot(pts[:,0],pts[:,1],color='r')
+   plot.savefig('visvalingam.png')
+   print "saved visvalingam.png"
+   #plot.show()
diff --git a/python_scripts/visvalingamWhyatt.pyc b/python_scripts/visvalingamWhyatt.pyc
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diff --git a/run.sh b/run.sh
new file mode 100644
index 0000000..aa6ee8a
--- /dev/null
+++ b/run.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+cd ~/catkin_ws
+catkin_make install
+roslaunch octomap_to_gazebo generate_world_and_contours.launch
+roslaunch octomap_to_gazebo launch_gazebo_world.launch world:=office3.world
+