Mapped obstacles: Difference between revisions
(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...) |
|||
Line 6: | Line 6: | ||
===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" |
Revision as of 10:52, 3 November 2010
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.
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"