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You do not particularly need a pgm image - you can use png image files too. You can make png file of your floor layout using gimp and use them with stage.

For the metric, you can play with this part of the code;

window (
size [ 745.000 448.000 ]

rotate [ 0.000 -1.560 ]
scale 28.806
)

You can find some sample png files (and world files), that I used in my simulation here;

1) http://mobotica.googlecode.com/files/simple-standalone.tar.gz

2) http://mobotica.googlecode.com/files/stage-controllers.tar.gz

You do not particularly need a pgm image - you can use png image files too. You can make png file of your floor layout using gimp and use them with stage.

For the metric, you can play with this part of the code;code in willow-erratic.world;

window (
size [ 745.000 448.000 ]

rotate [ 0.000 -1.560 ]
scale 28.806
)

You can find some sample png files (and world files), that I used in my simulation here;

1) http://mobotica.googlecode.com/files/simple-standalone.tar.gz

2) http://mobotica.googlecode.com/files/stage-controllers.tar.gz

You do not particularly need a pgm image - you can use png image files too. You can make png file of your floor layout using gimp and use them with stage.

For the metric, you can play with this part of the code in willow-erratic.world;

window (
size [ 745.000 448.000 ]

rotate [ 0.000 -1.560 ]
scale 28.806
)

You can find some sample png files (and world files), that I used in my simulation here;

1) http://mobotica.googlecode.com/files/simple-standalone.tar.gz

2) http://mobotica.googlecode.com/files/stage-controllers.tar.gz

You can also have a look at these tutorial, they actually make pgm images as outputs, however you will need to master stage before attempting them;

1) http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData

2) http://www.ros.org/wiki/stage/Tutorials/MakingMapsUsingStagesWanderController

You do not particularly need a pgm image - you can use png image files too. You If you are at Ubuntu, then you can make png file of your floor layout using gimp and use them with stage.

For the metric, you can play with this part of the code in willow-erratic.world;

window (
size [ 745.000 448.000 ]

rotate [ 0.000 -1.560 ]
scale 28.806
)

You can find some sample png files (and world files), that I used in my simulation here;

1) http://mobotica.googlecode.com/files/simple-standalone.tar.gz

2) http://mobotica.googlecode.com/files/stage-controllers.tar.gz

You can also have a look at these tutorial, they actually make pgm images as outputs, however you will need to master stage before attempting them;

1) http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData

2) http://www.ros.org/wiki/stage/Tutorials/MakingMapsUsingStagesWanderController