Provides a map using sonars Mapping Driver plugin. More...
Provides a map using sonars Mapping Driver plugin.
This driver is a very simple start to have the robot mapping its own environment. It works with an occupancy grid map, using the player_map_data_t 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.
this plugin driver uses
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):
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 )