Criando mapas Carmen
Como fazer mapas:
Abra o carmen_ford_escape.ini aproximadamente na linha 250 e mude isso:
# Use this parameters below for usual localization and navigation mapper_global_map off mapper_merge_with_offline_map on mapper_update_and_merge_with_mapper_saved_maps off mapper_build_snapshot_map on # Use this parameters below for building maps #mapper_global_map off #mapper_merge_with_offline_map off #mapper_update_and_merge_with_mapper_saved_maps on #mapper_build_snapshot_map off
por:
# Use this parameters below for usual localization and navigation #mapper_global_map off #mapper_merge_with_offline_map on #mapper_update_and_merge_with_mapper_saved_maps off #mapper_build_snapshot_map on # Use this parameters below for building maps mapper_global_map off mapper_merge_with_offline_map off mapper_update_and_merge_with_mapper_saved_maps on mapper_build_snapshot_map off
Na linha 280, mude isso:
# Use de parameter below for building maps #mapper_velodyne_range_max_factor 4.0 # Use de parameter below for usual localization and navigation mapper_velodyne_range_max_factor 1.0
por:
# Use de parameter below for usual localization and navigation mapper_velodyne_range_max_factor 4.0 # Use de parameter below for usual localization and navigation #mapper_velodyne_range_max_factor 1.0
Abra o arquivo process-volta_da_ufes_playback_viewer_3D.ini e edite ele:
Na linha 61 mude isso:
localize SLAM 1 0 ./localize_ackerman -mapping_mode off
por:
localize SLAM 1 0 ./localize_ackerman -mapping_mode on
Rode o log:
./proccontrol process-volta_da_ufes_playback_viewer_3D.ini
Após finalizar o log, copie tudo dentro de ../data/mapper_teste para a pasta de mapa que vc quer utilizar. Volte as opções anteriores para a inicial:
Abra o carmen_ford_escape.ini aproximadamente na linha 250 e mude isso:
# Use this parameters below for usual localization and navigation #mapper_global_map off #mapper_merge_with_offline_map on #mapper_update_and_merge_with_mapper_saved_maps off #mapper_build_snapshot_map on # Use this parameters below for building maps mapper_global_map off mapper_merge_with_offline_map off mapper_update_and_merge_with_mapper_saved_maps on mapper_build_snapshot_map off
por:
# Use this parameters below for usual localization and navigation mapper_global_map off mapper_merge_with_offline_map on mapper_update_and_merge_with_mapper_saved_maps off mapper_build_snapshot_map on # Use this parameters below for building maps #mapper_global_map off #mapper_merge_with_offline_map off #mapper_update_and_merge_with_mapper_saved_maps on #mapper_build_snapshot_map off
Na linha 280, mude isso:
# Use de parameter below for building maps mapper_velodyne_range_max_factor 4.0 # Use de parameter below for usual localization and navigation #mapper_velodyne_range_max_factor 1.0
por:
# Use de parameter below for usual localization and navigation #mapper_velodyne_range_max_factor 4.0 # Use de parameter below for usual localization and navigation mapper_velodyne_range_max_factor 1.0
Abra o arquivo process-volta_da_ufes_playback_viewer_3D.ini e edite ele:
Na linha 51, mude isso:
map_server support 1 0 ./map_server -map_path ../data/map_volta_da_ufes-20121003-01 -map_x 7757721.8 -map_y -363569.5 -block_map off
por:
map_server support 1 0 ./map_server -map_path ../data/<mapa gerado> -map_x 7757721.8 -map_y -363569.5 -block_map off
Na linha 61 mude isso:
localize SLAM 1 0 ./localize_ackerman -mapping_mode off
por:
localize SLAM 1 0 ./localize_ackerman -mapping_mode on
