OgMapLoader
[Components, Stand-Alone Components, C++, Linux, QNX]

Serves an occupancy grid map which is loaded from an image file. More...

Serves an occupancy grid map which is loaded from an image file.

Provides

• orca_interface_home
• orca_interface_ogmap [OgMapLoader.Provides.OgMap]
• orca_interface_status

Requires

• none

Drivers

• fake Serves a bogus made-up map.
• file Loads an occupancy grid map from a file.

Operation

Supportes file types are:

• most image formats
  • anything qt can load: .png .bmp .jpg .jpeg .ppm .xbm .xpm
• ICE stream files
  • file extension: .bin
  • these files can be generated using OrcaView2d

Clients who wish to receive the map should call getData(). This component will only ever issue one update to subscribers: on initialisation.

Configuration

• OgMapLoader.Config.Driver (string)
  • Which map loader to use
  • Valid values: { "file", "fake" }
  • Default: "file"

• OgMapLoader.Config.Filename (string)
  • The name (and path) of the image to load
  • Default: "mapfile.png"

• OgMapLoader.Config.Negate (bool)
  • Whether increasing pixel value represents increasing occupancy probability
  • Valid Values:
    • 0: black is occupied, white is empty
    • 1: white is occupied, black is empty
  • Default: 0

• OgMapLoader.MapType (int)
  • Used to determine what the served ogMap represents
  • Values: 0:occupancy, 1:hazard, 2:motion, user-defined integers can be assigned
  • Default: 0

Map Geometry (see orca_interface_ogmap for a detailed explanation)

Note: These parameters have no effect on maps loaded from ICE stream files. Those files contain all relevant information already.

World Size (float,float) [m]

• OgMapLoader.Config.Size.X
• OgMapLoader.Config.Size.Y

Map Origin with respect to the (arbitrarily defined) global coordinate system (float,float,float) [m,m,deg]

• OgMapLoader.Config.Offset.X
• OgMapLoader.Config.Offset.Y
• OgMapLoader.Config.Offset.Orientation

For example, these configuration settings work for the Player's famous cave world. We define the global coordinate system's origin to be in the centre of the map.

OgMapLoader.Config.Driver=file
OgMapLoader.Config.MapFileName=cave.png
OgMapLoader.Config.Negate=0
OgMapLoader.Config.Offset.Orientation=0.0
OgMapLoader.Config.Offset.X=-8.0
OgMapLoader.Config.Offset.Y=-8.0
OgMapLoader.Config.Size.X=16.0
OgMapLoader.Config.Size.Y=16.0

Dependancies

• Qt GUI library >= v.4.1

Responsible Developer

Tobias Kaupp (t.kaupp at cas.edu.au)