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<h1>gridmap<br/>
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[<a class="el" href="group__drivers.html">Drivers</a>]</small>
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<p>Provides a map using sonars Mapping <a class="el" href="classDriver.html" title="Base class for all drivers.">Driver</a> plugin.
<a href="#_details">More...</a></p>
<table class="memberdecls">
</table>
<p>Provides a map using sonars Mapping <a class="el" href="classDriver.html" title="Base class for all drivers.">Driver</a> plugin. </p>
<p>This driver is a very simple start to have the robot mapping its own environment. It works with an occupancy grid map, using the <a class="el" href="group__interface__map.html#ga55322dc0961d18aa9c33a60d1e159869">player_map_data_t</a> data type. this driver subscribes to odometry position2d and sonar device, every 100milliseconds puts an occupied line on the map, based on the endpoint of the sonar ray.</p>
<p>this plugin driver uses</p>
<ul>
<li>"odometry" <a class="el" href="group__interface__position2d.html">position2d</a> : source of odometry information</li>
<li><a class="el" href="group__interface__sonar.html">sonar</a> : source of sonar data</li>
</ul>
<dl class="user"><dt><b>Configuration requests</b></dt><dd>provides ["map:0"] requires ["position2d:0" "sonar:0"]</dd></dl>
<dl class="user"><dt><b>Configuration file options</b></dt><dd><ul>
<li>width (integer) map width in pixels, defaults to 0 if not specified.</li>
<li>height (integer) map height in pixels, defaults to 0 if not specified.</li>
<li>startx (integer) initial global robot x position in pixels</li>
<li>starty (integer) initial global robot y position in pixels</li>
<li>scale (float) pixels/meter, the stage simple.world has a 16 meter map with a 0.028 scale, so 1 meter is (int) 1/0.028 = 36 pixels</li>
<li>sonartreshold (float) sonar data above the treshold is ignored. this is the most simple way to account for maximum range readings due to reflections. for a stage simulated pioneer robot the sonar range is 5 meters, so treshold should be less than 5. defaults to 1 if not specified.</li>
</ul>
</dd></dl>
<p>The following configuration file illustrates the use of the driver in a stage simulated world (here map width height and resolution were taken from the world file for an easy comparison of the stage world with the map):</p>
<div class="fragment"><pre class="fragment">
driver
(
name "stage"
provides ["simulation:0" ]
plugin "libstageplugin"
# load the named file into the simulator
worldfile "simple.world"
)
# Create a Stage driver and attach position2d and laser interfaces
# to the model "robot1"
driver
(
name "stage"
provides ["position2d:0" "sonar:0" "laser:0"]
model "robot1"
)
driver
(
name "gridmap"
provides ["map:0"]
requires ["position2d:0" "sonar:0"]
plugin "mapping.so"
width 809
height 689
startx 0
starty 0
scale 0.028
treshold 4.5
)
</pre></div> </div>
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Last updated 12 September 2005 21:38:45
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