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Occupancy Grid Maps with ReactiveNavigationDemo

Wed, 04/04/2012 - 03:08 — manganganath

I'm currently playing with ReactiveNavigationDemo app (http://www.mrpt.org/Application:ReactiveNavigationDemo). I have couple of questions regarding format of the 2D grid maps;

1) ReactiveNavigationDemo uses a defult grid map stored in DEFAULT_GRIDMAP_DATA.h. If I want to visualize this default map in MATLAB how can I do that? How to recognize the number of columns and rows of the map?

2) Can I create my own grid maps with MATLAB so that I can use them with ReactiveNavigationDemo? If so, how to do that?

Thanks in advance.

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mrpt-users
Thu, 04/12/2012 - 00:23 — jlblanco
jlblanco's picture

Hi there,

1) I'd recommend you to locate a point in the program after the gridmap is loaded into a COccupancyGridMap2D, then calling its method saveMetricMapRepresentationToFile(), which will write an image file and a separate text file with its dimensions. I've used this method several times to draw gridmaps in MATLAB.

 

2) The easiest way is to "paint" a gridmap as a grayscale image and load it into a COccupancyGridMap2D::loadFromBitmapFile(). 

This video (at ~1:40) showed how easy is to draw a gridmap using the free program GIMP:

 
Fri, 04/13/2012 - 19:57 — manganganath
manganganath's picture

Thanks for your reply. However I was talking about ReactiveNavigationDemo, not the GridmapNavSimul.