mapcspace

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