软件平台:
硬件平台:
(以下任选其一)
composite_map_demo [OPTS] [filename] <SDP IP Address>
SDP IP Address The ip address string of the SLAMWARE SDP
getstcm filename download compositeMap
If not specified, the default name map.stms will be used
setstcm filename upload compositeMap
-h Show this message
从slamware里面读取composite map(此操作会在桌面上生成一个test.stcm的地图文件,并在console中输出地图数据信息):
可以用Robostudio的地图编辑器来查看生成的地图:
代码功能说明:从slamware模块下载composite map到客户端, 从客户端上传composite map至slamware模块,从composite map中读取虚拟轨道,虚拟墙等信息。
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; } |
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; } |