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tutorials:intermediate:semantic_environment_map [2016/01/15 16:35] – gkazhoyatutorials:intermediate:semantic_environment_map [2016/06/14 13:04] – [Setting up] gkazhoya
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 <code lisp> <code lisp>
-SEMANTIC-MAP-COSTMAP> (setf cram-transforms-stamped:*fixed-frame* "map")+SEMANTIC-MAP-COSTMAP> (setf cram-tf:*fixed-frame* "map")
 SEMANTIC-MAP-COSTMAP>  SEMANTIC-MAP-COSTMAP> 
 (prolog:def-fact-group costmap-metadata () (prolog:def-fact-group costmap-metadata ()
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   (<- (location-costmap:costmap-in-reach-distance 0.9))   (<- (location-costmap:costmap-in-reach-distance 0.9))
   (<- (location-costmap:costmap-reach-minimal-distance 0.1)))   (<- (location-costmap:costmap-reach-minimal-distance 0.1)))
-SEMANTIC-MAP-COSTMAP> (roslisp-utilities:startup-ros)+SEMANTIC-MAP-COSTMAP> (roslisp:start-ros-node "sem_map_lisp")
 </code> </code>