mapcspace
Drivers

Grow obstacles in grid maps. More...

Grow obstacles in grid maps.

The mapcspace driver reads a occupancy grid map from another map device and convolves it with a robot of a particular shape and size to create the configuration space (C-space) map. That is, this driver "grows" obstacles in the map to produce a new map in which, for path-planning purposes, you can consider the robot to be a point.

Both occupied and unknown cells are grown.

Note that map devices produce no data; the map is delivered via a sequence of configuration requests.

Compile-time dependencies

- none

Provides

- map : the resulting C-space map

Requires

- map : the raw map, from which to make the C-space map

Configuration requests

- PLAYER_MAP_REQ_GET_INFO
- PLAYER_MAP_REQ_GET_DATA

Configuration file options

- robot_radius (length)
  - Default: -1.0
  - The radius of the robot to convolve with the map
- robot_shape (string)
  - Default: "circle"
  - The shape of the robot to convolve with the map. Should be one of: "circle".

Example

    driver
    (
      name "mapfile"
      provides ["map:0"]
      filename "mymap.pgm"
      resolution 0.1  # 10cm per pixel
    )
    driver
    (
      name "mapcspace"
      requires ["map:0"]  # read from map:0
      provides ["map:1"]  # output C-space map on map:1
      robot_shape "circle"
      robot_radius 0.5 m
    )

Author
  Brian Gerkey

Last updated 12 September 2005 21:38:45