fixed threshold level to fix missing portions, and moved installing p…

…ython dependencies to gazebo package.xml

docker/Dockerfile

@@ -34,6 +34,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
         software-properties-common \
         wget \
         curl \
+        python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
 FROM nvidia/cuda:12.1.0-runtime-ubuntu${UBUNTU_VER} as ros2nvidia
@@ -66,6 +67,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
         software-properties-common \
         wget \
         curl \
+        python3-pip \
         libegl1-mesa \
         libglu1-mesa \ 
         libxv1 \
@@ -218,6 +220,5 @@ RUN if [ ${DEPLOY} == "hardware" ]; then \
 WORKDIR /root/linorobot2_ws
 RUN source /opt/ros/$ROS_DISTRO/setup.bash \
     && colcon build
-RUN sudo apt-get update -y && sudo apt-get install -y python3-pip
-RUN pip3 install trimesh numpy pycollada scipy networkx opencv-contrib-python matplotlib    
+
 ENTRYPOINT ["/root/entrypoint.sh"]

linorobot2_gazebo/package.xml

@@ -17,6 +17,13 @@
     <exec_depend>geometry_msgs</exec_depend>
     <exec_depend>image_proc</exec_depend>
     <exec_depend>depth_image_proc</exec_depend>
+    <exec_depend>python-trimesh-pip</exec_depend>
+    <exec_depend>python3-numpy</exec_depend>
+    <exec_depend>python3-pycollada</exec_depend>
+    <exec_depend>python3-scipy</exec_depend>
+    <exec_depend>python3-networkx</exec_depend>
+    <exec_depend>python3-opencv-contrib-python</exec_depend>
+    <exec_depend>python3-matplotlib</exec_depend>
     <export>
         <build_type>ament_cmake</build_type>
     </export>

linorobot2_gazebo/scripts/map2gazebo.py

@@ -268,7 +268,7 @@ def map_callback(self):
 
           # set all -1 (unknown) values to 0 (unoccupied)
           map_array[map_array < 0] = 0
-          contours = self.get_occupied_regions(map_array, map_info['occupied_thresh'])
+          contours = self.get_occupied_regions(map_array)
           print('Processing...')
           meshes = [self.contour_to_mesh(c, map_info) for c in contours]
 
@@ -324,13 +324,13 @@ def _extract_maps(self, directory_path):
                   files_dict[base_name] = [os.path.join(directory_path, filename)]
       return files_dict
 
-    def get_occupied_regions(self, map_array, occupied_thresh):
+    def get_occupied_regions(self, map_array):
         """
         Get occupied regions of map
         """
         map_array = map_array.astype(np.uint8)
         _, thresh_map = cv2.threshold(
-                map_array, occupied_thresh*255, 100, cv2.THRESH_BINARY)
+                map_array, 253, 255, cv2.THRESH_BINARY)
         contours, hierarchy = cv2.findContours(
                 thresh_map, cv2.RETR_CCOMP, cv2.CHAIN_APPROX_NONE)
         # Using cv2.RETR_CCOMP classifies external contours at top level of