Mapped obstacles - Revision history

Jca: /* General description */

2010-11-03T10:07:06Z

General description

← Older revision		Revision as of 12:07, 3 November 2010
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	===General description===		===General description===
	The method 'getObst' finds mapped lines near a box arount current positin. These lines are then converted to a local (odometry) coordinates based on a provided origin pose of the ~~new~~ coordinate system.		The method 'getObst' finds mapped lines near a box arount current positin. These lines are then converted to a local (odometry) coordinates based on a provided origin pose of the odometry coordinate system in map coordinates.

	To enable the use of mapped obstacles to remove detected obstacles in the vicinity,		To enable the use of mapped obstacles to remove detected obstacles in the vicinity,

Jca: /* General description */

2010-11-03T10:05:57Z

General description

← Older revision		Revision as of 12:05, 3 November 2010
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	# as obstacles are handled in odometry coordinates and mapped obstacles in map coordinates		# as obstacles are handled in odometry coordinates and mapped obstacles in map coordinates
	# mapped obstacles need to be reloaded regularly		# mapped obstacles need to be reloaded regularly
	push t=3 cmd="obst getfrommap"		push t=3 cmd="obst getfrommap makeonly"

Jca: /* General description */

2010-11-03T09:54:08Z

General description

← Older revision		Revision as of 11:54, 3 November 2010
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	Mapped obstacles must also be passed to the obstacle pool (obst).		Mapped obstacles must also be passed to the obstacle pool (obst).
	This is done using a regular call to ''obst getFromMap''. This requires that the ~~plugin~~		This is done using a regular call to ''obst getFromMap''. This requires that the plug-in
	mapobst and mapbase is loaded, e.g.:		''mapobst'' and ''mapbase'' is loaded, e.g. this could be part of laser scanner server ''ulmsserver'' initialization:

	# map database		# map database

Jca: /* General description */

2010-11-03T09:52:27Z

General description

← Older revision		Revision as of 11:52, 3 November 2010
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	This is done using a regular call to ''obst getFromMap''. This requires that the plugin		This is done using a regular call to ''obst getFromMap''. This requires that the plugin
	mapobst and mapbase is loaded, e.g.:		mapobst and mapbase is loaded, e.g.:


	# map database		# map database

Jca: /* General description */

2010-11-03T09:52:11Z

General description

← Older revision		Revision as of 11:52, 3 November 2010
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	===General description===		===General description===
	The method 'getObst' finds mapped lines near a box arount current positin. These lines are then converted to a local (odometry) coordinates based on a provided origin pose of the new coordinate system.		The method 'getObst' finds mapped lines near a box arount current positin. These lines are then converted to a local (odometry) coordinates based on a provided origin pose of the new coordinate system.

			To enable the use of mapped obstacles to remove detected obstacles in the vicinity,
			the pass.ignoreIfFixed must be set to true, e.g.:

			var pass.ignoreIfFixed=true

			Mapped obstacles must also be passed to the obstacle pool (obst).
			This is done using a regular call to ''obst getFromMap''. This requires that the plugin
			mapobst and mapbase is loaded, e.g.:


			# map database
			module load="mapbase.so.0"
			# load some maps
			mapbase graphload="./apple_cherry_graph.xml"
			mapbase mapload="./apple_cherry_map.xml"
			# load module to utilize mapped obstacles
			module load="aumapobst.so.0"
			var mapobst.marginSolidFactor=0.3
			var mapobst.marginFluffyFactor=1.4
			# and obstacle pool - part of ''aupassable.so.0''
			module load="ulmspassable.so.0"
			var pass.ignoreIfFixed=true
			# as obstacles are handled in odometry coordinates and mapped obstacles in map coordinates
			# mapped obstacles need to be reloaded regularly
			push t=3 cmd="obst getfrommap"

Jca: New page: ===Introduction=== This plug-in is dependent on the mapbase plug-in, and must be loaded after the mapbase plug-in, otherwise all links are not resolved. The plugin are primarily used by t...

2009-07-15T05:25:08Z

New page: ===Introduction=== This plug-in is dependent on the mapbase plug-in, and must be loaded after the mapbase plug-in, otherwise all links are not resolved. The plugin are primarily used by t...

New page

===Introduction===
This plug-in is dependent on the mapbase plug-in, and must be loaded after the mapbase plug-in, otherwise all links are not resolved.

The plugin are primarily used by the ulmspassable plug-in to correlate laser scanner obstacles with known fixed obstales.

===General description===
The method 'getObst' finds mapped lines near a box arount current positin. These lines are then converted to a local (odometry) coordinates based on a provided origin pose of the new coordinate system.