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This document introduces the usage of composite_map_demo, including how to save and load maps of stcm format( composite map).

Content

IDE Preparation 

  • Software

    • Visual Studio 2010  SP1
    • Slamware Windows SDK:Slamware Windows SDK
    • RoboStudio(for map display):Robostudio installer 

    • Sample Code: 

      Higher version of Visual Studio will cause errors.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

  • Hardware

          （Either one of following）

    • Slamware SDP mini 
    • Slamware SDP
    • Slamware Kit 
    • Zeus/Apollo robot base

Download

Win32-Demo

Compiling

  1. Right click on "composite_map_demo" project, set as StartUp project.

  2. Right click on "composite_map_demo", then " Properties"，configure "include" and "lib" directories to the corresponding folder path of Slamware SDK.

    It's not necessary to copy files to the project directory, a right configuration of where these file located would be enough.




  3. Right click on "composite_map_demo", then "properties"，set "Command Arguments"  as follows:

    Syntax Description：

    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

  4. Click " F5" to execute.

    • composite_map_demo getstcm map.stcm 192.168.11.1 (load composite map from slamware, and generate a map.stcm file in a defined folder path)

      The generated maps could be opened with the " map editor" plug-in of the Robostudio
    • composite_map_demo setstcm map.stcm 192.168.11.1(upload map.stcm to slamware)

      if map is successfully loaded, it will be shown in Robostudio.

Code 

  • Save maps from Slamware to a local path.
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;
}
  •  Load composite map from a local path
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;
}
  • Display date of different map layers from a composite map, including virtual walls and virtual tracks, etc.
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;
            }
        }


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