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tutorials:intermediate:semantic_environment_map [2016/01/15 16:30] – gkazhoyatutorials:intermediate:semantic_environment_map [2016/06/14 13:15] (current) – [Setting up] gkazhoya
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 <code lisp> <code lisp>
-SEMANTIC-MAP-COSTMAP> (setf cram-transforms-stamped:*fixed-frame* "map")+SEMANTIC-MAP-COSTMAP> (setf cram-tf:*fixed-frame* "map")
 SEMANTIC-MAP-COSTMAP>  SEMANTIC-MAP-COSTMAP> 
 (prolog:def-fact-group costmap-metadata () (prolog:def-fact-group costmap-metadata ()
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 #<CL-TRANSFORMS-STAMPED:POSE-STAMPED  #<CL-TRANSFORMS-STAMPED:POSE-STAMPED 
    FRAME-ID: "map", STAMP: 0.0    FRAME-ID: "map", STAMP: 0.0
-   #<3D-VECTOR (-1.0999999046325684d0 1.0500001907348633d0 0.8500000238418579d0)>+   #<3D-VECTOR (-0.6999998092651367d0 1.0500001907348633d0 0.8500000238418579d0)>
    #<QUATERNION (0.0d0 0.0d0 0.0d0 1.0d0)>>    #<QUATERNION (0.0d0 0.0d0 0.0d0 1.0d0)>>
 </code> </code>
 +{{ :tutorials:intermediate:location_on_kitchen_island.png?direct&1000 |}}
 +The marker array in RViz show a uniform distribution of all possible locations that satisfy the symbolic constraint in the designator.