text: import rospkg
  import subprocess
  import os
  
  # get an instance of RosPack with the default search paths
  rospack = rospkg.RosPack()
  
  print('\033[93mYOU NEED TO HAVE A ROSCORE RUNNING!\033[0m')
  
  # Get the file path to the default pcd file created by smb_slam
  mapPath = rospack.get_path('smb_slam') + '/compslam_map.pcd'
  
  # Get the path to the script
  smb_nav_path = rospack.get_path('smb_navigation')
  
  # Make the script executable
  os.system('chmod +x ' + smb_nav_path + '/script/pcd_to_gridmap.sh') 
  
  # Set the arguments and run the script
  output_path = smb_nav_path + '/data/test'
  run_rviz = 'true'
  
  command_string = smb_nav_path + '/script/pcd_to_gridmap.sh ' + mapPath + ' ' + output_path + ' ' + run_rviz
  os.system(command_string) 
  