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gmapping maps can hardly store properly that kind of information. In our case we use a separated semantic map that contains different kinds of interesting elements and its coordinates relative the gmapping-generated map reference frame.

gmapping maps can hardly store properly that kind of information. In our case we use a separated semantic map that contains different kinds of interesting elements and its coordinates relative the gmapping-generated map reference frame.

UPDATE In our case a semantic map is something terribly simple: typically a yaml file containing a global pose (/map frame referenced) and some extra data. Here for example we store tables with their radius for a waiter robot:

-
name: table1
frame_id: map
pose:
position:
x: 3.067
y: 3.107
z: 0
orientation:
x: 0
y: 0
z: 0
w: 1
-
name: table2
frame_id: map