
(4) Contribution Details</h1>
<p>This project is based on the open-source <code>pgm_map_creator</code> project by hyfan1116, available at: <a href="https://github.com/hyfan1116/pgm_map_creator">pgm_map_creator</a>. Due to updates in ROS, Boost, and Gazebo versions, the original project is no longer functional. Our main contribution is updating and fixing the project to ensure compatibility with Ubuntu 20.04, ROS Noetic, Boost 1.71, Gazebo 11, and C++ 17, allowing it to run smoothly in these environments. W