Mapping

Author:
Antonio Franchi
Date:
2009-11
This work is inteded to build a map of an environment in the form of a collection of pairs (Pose,Scan), i.e., a ScanMap, and to save it in a file, or to add new scans or revise a pre-existing map. For a detailed description of the options see the task Mapping.

arena-eight.map.jpg

A map taken on the fly with a KheperaIII from an eight-shaped environment and manually revised later.

Mapping on Player

(remember to specify the id of the robot)

Use a simulated player robot and perform a manual mapping:

./mip -resTaskFile ../main/resTaskFiles/mapping/mappingPlayerRob.txt \
-mappingModality manual \
-mappingOutFileName new.map 

Use a simulated player robot and perform a manual pattern mapping:

./mip -resTaskFile ../main/resTaskFiles/mapping/mappingPlayerRob.txt \
-mappingModality pattern \
-mappingOutFileName new.map 

Use a simulated player robot and perform a manual mapping:

./mip -resTaskFile ../main/resTaskFiles/mapping/mappingPlayerRob.txt \
-mappingModality onthefly \
-mappingOutFileName new.map 
or
./mip -resTaskFile ../main/resTaskFiles/mapping/mappingPlayerRobOnTheFly.txt \
-mappingOutFileName new.map 

Mapping on Remote Robot

(remember to specify the id of the robot)

Use a remote robot and perform a manual mapping:

./mip -resTaskFile ../main/resTaskFiles/mapping/mappingRemoteRob.txt \
-mappingModality manual \
-mappingOutFileName new.map 

Use a remote robot and perform a manual pattern mapping:

./mip -resTaskFile ../main/resTaskFiles/mapping/mappingRemoteRob.txt \
-mappingModality pattern \
-mappinOutFileName new.map 

Use a remote robot and perform an onthefly mapping:

./mip -resTaskFile ../main/resTaskFiles/mapping/mappingRemoteRob.txt \
-mappingModality onthefly \
-mappingOutFileName new.map 
or
./mip -resTaskFile ../main/resTaskFiles/mapping/mappingRemoteRobOnTheFly.txt \
-mappingOutFileName new.map 

View and Revision

View a the map stored in "../data/maps/arena-eight.map":
./mip -resTaskFile ../main/resTaskFiles/mapping/mappingView.txt \
-mappingInFileName ../data/maps/arena-eight.map
Revise the map stored in "../data/maps/arena-eight.map" from the tenth scan and store it in "../data/maps/arena-eight-revised.map":
./mip -resTaskFile ../main/resTaskFiles/mapping/mappingRevision.txt \
-mappingInFileName ../data/maps/arena-eight.map \
-mappinOutFileName ../data/maps/arena-eight-revised.map \
-mappingRevStartingScan 10

Examples executables

todo

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