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

Serves an pixel-based grid map which is loaded from an image file. More...

Serves an pixel-based grid map which is loaded from an image file.

Provides

• orca_interface_home
• orca_interface_pixmap [PixMapLoader.Provides.PixMap]
• 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

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

Configuration

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

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

Map Geometry (see orca_interface_ogmap for a detailed explanation)

World Size (float,float) [m]

• PixMapLoader.Config.Size.X
• PixMapLoader.Config.Size.Y

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

• PixMapLoader.Config.Offset.X
• PixMapLoader.Config.Offset.Y
• PixMapLoader.Config.Offset.Orientation

Ice might throw the following exception:

IceUtil::Thread::run(): uncaught exception: TcpTransceiver.cpp:217: Ice::ConnectionLostException:
connection lost: recv() returned zero

Ice has a default maximum object size that can be communicated between components of 1024 bytes. If the pixmap exceeds this limit you must add in the following extra configuration line to both the pixmaploader.cfg and icebox_icestorm.cfg files:

...
Ice.MessageSizeMax=3000

Remember also to add this line to all configuration files of pixmap clients, e.g. OrcaView2d.

Dependancies

• Qt GUI library >= v.4.1

Responsible Developer

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