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
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:
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
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
获取composite map
bool StcmMapWriter(const std::string file_name, SlamwareCorePlatform platform) { CompositeMap composite_map = platform.getCompositeMap(); CompositeMapWriter composite_map_writer; std::string error_message; bool result = composite_map_writer.saveFile(error_message, file_name, composite_map); return result; }
- 从客户端上传composite map至slamware模块
设置composite map
bool StcmMapReader(const std::string file_path, rpos::core::Pose pose, SlamwareCorePlatform platform) { CompositeMapReader composite_map_reader; std::string error_message; boost::shared_ptr<CompositeMap> composite_map(composite_map_reader.loadFile(error_message, file_path)); if (composite_map) { platform.setCompositeMap((*composite_map), pose); return true; } return false; }
- 从composite map中读取虚拟轨道,虚拟墙等信息
读取map layer信息
CompositeMapReader composite_map_reader; std::string error_message; boost::shared_ptr<CompositeMap> composite_map(composite_map_reader.loadFile(error_message, file_path)); if (composite_map) { for (auto it = composite_map->maps().begin(); it != composite_map->maps().end(); ++it) { auto layer = *it; std::string usage = layer->getUsage(); std::string type = layer->getType(); std::cout << "Layer Usage : " << usage << std::endl; //get grid map layer if (type == GridMapLayer::Type) { auto grid_map = boost::dynamic_pointer_cast<GridMapLayer>(layer); std::cout << "Map Position : (" << grid_map->getOrigin().x() << " , " << grid_map->getOrigin().y() << ")" <<std::endl; std::cout << "Map Resolution : (" << grid_map->getResolution().x() << " , " << grid_map->getResolution().y() << ")" <<std::endl; std::cout << "Map Dimension: (" << grid_map->getDimension().x() << " , " << grid_map->getDimension().y() << ")" <<std::endl; std::cout << "Map Data:" << std::endl; for (auto it = grid_map->mapData().begin(); it != grid_map->mapData().end(); ++it) { std::cout << (int)*it << " " ; } std::cout << std::endl << std::endl; } //get line map layer else if (type == LineMapLayer::Type) { auto line_map = boost::dynamic_pointer_cast<LineMapLayer>(layer); for (auto it = line_map->lines().begin(); it != line_map->lines().end(); ++it) { auto line = 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; } //get pose map layer else if (type == PoseMapLayer::Type) { auto pose_map = boost::dynamic_pointer_cast<PoseMapLayer>(layer); for (auto it = pose_map->poses().begin(); it != pose_map->poses().end(); ++it) { auto pos = it->second; std::cout << "Position : (" << pos.pose.x() << " , " << pos.pose.y() << ")" << std::endl; } std::cout << std::endl; } else if (type == PointsMapLayer::Type) { //TODO: get Points map layer std::cout << std::endl; } else { //TODO: get unknown map layer std::cout << std::endl; } }