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本页介绍了composite_map_demo的用法, 主要包含对.stcm地图格式的composite map的读写操作。 |
本页内容
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运行环境准备
软件平台
- Visual Studio 2010 SP1
- Slamware Windows SDK:Slamware Windows SDK
- RoboStudio(用于显示地图):Robostudio installer
Sample Code:
Info 使用更高版本的Visual Studio可能会带来编译异常。
使用Visual Studio 2010（无SP1）可能会因为无法与.Net Framework兼容而报编译错误，此时增加SP1更新包即可解决问题
硬件平台
（以下任选其一）
- Slamware SDP mini
- Slamware SDP
- Slamware 套装 （基于Slamware导航方案的用户机器人系统）
- Zeus/Apollo等底盘系统
编译运行
打开samples工程，右键composite_map_demo, 将此工程设置成StartUp project
右键composite_map_demo, 打开属性选项，将Slamware SDK 的include目录和lib目录添加到工程
Info Slamware SDK的include和lib目录无需复制到参考例程目录，只需在Visual Studio里指定路径即可。
- 右键composite_map_demo, 打开properties选项，设置Command Arguments 如下图，
格式说明：composite_map_demo [OPTS] [filename] <SDP IP Address>
SDP IP Address The ip address string of the SLAMWARE SDP
getstcm filename download compositeMap
setstcm filename upload compositeMap
-h Show this message 点击F5运行
- composite_map_demo getstcm map.stcm 192.168.11.1 (从slamware里面读取composite map, 并生成map.stcm)
可以用Robostudio的地图编辑器来查看生成的地图：
- composite_map_demo setstcm map.stcm 192.168.11.1(将名为map.stcm的地图上传至slamware)
可以在Robostudio中连上机器人，可以看到地图已经上传成功
- composite_map_demo getstcm map.stcm 192.168.11.1 (从slamware里面读取composite map, 并生成map.stcm)
代码描述
- 从slamware模块下载composite map到客户端
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bool StcmMapWriter(const std::string file_name, SlamwareCorePlatform platform) { CompositeMap composite_map = platform.getCompositeMap(); |
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CompositeMapWriter |
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composite_map_writer; std::string |
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error_message; bool |
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result = |
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composite_map_writer.saveFile( |
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error_message, |
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file_name, |
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composite_map);
return result;
} |
- 从客户端上传composite map至slamware模块
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bool StcmMapReader(const std::string file_path, rpos:: |
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core::Pose pose, SlamwareCorePlatform platform) { CompositeMapReader composite_map_reader; std::string |
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error_message; boost::shared_ |
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ptr<CompositeMap> composite_map(composite_map_reader.loadFile(error_message, file_path)); if ( |
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composite_map) { platform.setCompositeMap((* |
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composite_map), pose); return true; } return false; } |
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- 从composite map中读取虚拟轨道，虚拟墙等信息
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CompositeMapReader |
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composite_map_reader; std::string |
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error_message; boost::shared_ |
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ptr<CompositeMap> composite_map(composite_map_reader.loadFile(error_message, file_path)); if ( |
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composite_map) { |
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for (auto |
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it = |
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composite_map->maps().begin(); |
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it != |
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composite_map->maps().end(); ++ |
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it) { |
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auto |
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layer = * |
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it; std::string usage = |
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layer->getUsage(); std::string type = |
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layer->getType(); std::cout << "Layer Usage : " << usage << std::endl; |
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// |
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get |
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grid map layer if (type == |
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GridMapLayer::Type) {
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auto |
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grid_map = boost::dynamic_pointer_ |
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cast<GridMapLayer>(layer); std::cout << "Map Position : (" << |
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grid_map->getOrigin().x() << " , " << |
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grid_map->getOrigin().y() << ")" <<std::endl; std::cout << "Map Resolution : (" << |
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grid_map->getResolution().x() << " , " << |
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grid_map->getResolution().y() << ")" <<std::endl; std::cout << "Map Dimension: (" << |
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grid_map->getDimension().x() << " , " << |
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grid_map->getDimension().y() << ")" <<std::endl; std::cout << "Map Data:" << std::endl; for (auto |
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it = |
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grid_map->mapData().begin(); |
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it != |
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grid_map->mapData().end(); ++ |
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it) { std::cout << (int)* |
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it << " " ; } std::cout << std::endl << std::endl; } |
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//get line map layer else if (type == |
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LineMapLayer::Type) { |
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auto |
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line_map = boost::dynamic_pointer_ |
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cast<LineMapLayer>(layer); for (auto |
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it = |
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line_map->lines().begin(); |
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it != |
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line_map->lines().end(); ++ |
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it) { auto line = |
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it->second; std::cout << "start: (" << line.start.x() << " , " << line.start.y() << ")" << std::endl; std::cout << "end: (" << line.end.x() << " , " << line.end.y() << ")" << std::endl; } std::cout << std::endl; } // |
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get |
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pose |
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map layer else if (type == |
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PoseMapLayer::Type) { |
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auto |
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pose_map = boost::dynamic_pointer_ |
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cast<PoseMapLayer>(layer); for (auto |
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it = |
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pose_map->poses().begin(); |
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it != |
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pose_map->poses().end(); ++ |
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it) { auto pos = |
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it->second; std::cout << "Position : (" << pos.pose.x() << " , " << pos.pose.y() << ")" << std::endl; } std::cout << std::endl; } |
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else if (type == |
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PointsMapLayer::Type) { |
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//TODO: get Points map layer std::cout << std::endl; } else { //TODO: get unknown map layer std::cout << std::endl; } } |
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