[Playerstage-users] Re: Mapping implementations

[Shane O'S. <sha...@gm...>]

Hi

It depends on whether you want to do mapping with lasers or sonar
data.  If you want to use Sonar data, then you can use an application
I wrote called MapViewer (http://mapviewer.skynet.ie).  It takes a log
file of sonar and odometry data and builds a map from it.  There are
help files and sample code to help you on the site.  You'll have to
output your data from player stage to a text file and then run this
file through MapViewer's map building tool.

If you want to use lasers to build the map, you can use the Carmen
toolkit (http://www-2.cs.cmu.edu/~carmen/).  This will both localise
your odometry data and build the map (MapViewer does not do
localisation).  You can then save the map in Carmen format, load it in
MapViewer and save it as an image.

You should be able to save the map in PNM format for use with
Player/Stage, but there was a bug recently found in MapViewer that
I'll have to fix.  Until then, you can output the Carmen map as a
bitmap, or .bmp image, and convert it to the correct type of PNM image
(Using Mapviewer and another paint package respectively).

Shane

-----------------------------------------------------------------------------------

Hi!
 
 Does anyone know or have access to implementation of mapping algorithms,
 working with player/stage?  We"re trying to do a quick-and-dirty mapping
 trial and would like to avoid implementing an algorithm from scratch.
 
 Thanks,
 
 Gal
 
 
 -- 
 -----------------------------------------------------------------------
 Gal A. Kaminka, Ph.D.                     http://www.cs.biu.ac.il/~galk
 Assistant Professor     Computer Science Dept.      Bar Ilan University
         Only those who see the invisible can do the impossible
    "Death is an engineering problem." -- Bart Kosko, "Fuzzy Thinking"
         "But life is not an engineering task." -- Gal A. Kaminka