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tutorials:intermediate:costmaps [2022/04/27 13:45] – [Using other (pre-defined) cost-functions] schimpf | tutorials:intermediate:costmaps [2022/04/27 13:55] – [Setup] schimpf | ||
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===== Setup ===== | ===== Setup ===== | ||
+ | *set up the environment in our terminal by calling the launch file: | ||
- | * launch the map-server in a terminal with < | + | |
- | | + | |
+ | |||
+ | *start a node in REPL with (roslisp-utilities: | ||
- | * start a node in REPL with (roslisp-utilities: | ||
* define costmap parameters: | * define costmap parameters: | ||
Line 27: | Line 29: | ||
<code lisp> | <code lisp> | ||
(prolog: | (prolog: | ||
- | (prolog:< | + | (prolog:< |
- | (prolog:< | + | (prolog:< |
- | (prolog:< | + | (prolog:< |
- | (prolog:< | + | (prolog:< |
</ | </ | ||
Line 143: | Line 145: | ||
(car (prolog: | (car (prolog: | ||
</ | </ | ||
+ | The code can also be used to visualize the other costmap functions in this tutorial. | ||
{{: | {{: | ||
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? | ? | ||
</ | </ | ||
+ | |||
+ | The visualized costmap looks like this: | ||
+ | |||
{{: | {{: | ||
* using range costmap function: | * using range costmap function: | ||
Line 175: | Line 181: | ||
? | ? | ||
</ | </ | ||
+ | |||
+ | The visualized costmap looks like this: | ||
+ | |||
{{: | {{: | ||
+ | * using range costmap function inverted: | ||
<code lisp> | <code lisp> | ||
(prolog: | (prolog: | ||
Line 186: | Line 196: | ||
? | ? | ||
</ | </ | ||
+ | |||
+ | The visualized costmap looks like this: | ||
+ | |||
{{: | {{: | ||
===== Using your own Z coordinate function ===== | ===== Using your own Z coordinate function ===== | ||
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</ | </ | ||
The end result is that all the poses generated will now have a z-coordinate of 1.0 units. | The end result is that all the poses generated will now have a z-coordinate of 1.0 units. | ||
+ | |||
+ | The visualized costmap using the bullet world looks like this: | ||
+ | |||
+ | {{: | ||
==== Configuring height according to conditions ==== | ==== Configuring height according to conditions ==== | ||
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? | ? | ||
</ | </ | ||
+ | |||
+ | The visualized costmap using the bullet world looks like this: | ||
+ | |||
+ | {{: |