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tutorials:intermediate:costmaps [2022/04/27 13:52] – [Creating your own cost function] schimpftutorials:intermediate:costmaps [2022/04/27 13:55] – [Setup] schimpf
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 ===== Setup ===== ===== Setup =====
 +    *set up the environment in our terminal by calling the launch file:
  
-  * launch the map-server in a terminal with <code> roslaunch iai_maps map.launch </code>+        roslaunch cram_bullet_world_tutorial world.launch 
  
-  * load cram_occupancy_grid_costmap in the REPL+    *load cram_bullet_world_tutorial in the REPL 
 + 
 +    *start a node in REPL with (roslisp-utilities:startup-ros)
  
-  * start a node in REPL with (roslisp-utilities:startup-ros) 
  
   * define costmap parameters:   * define costmap parameters:
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 <code lisp> <code lisp>
 (prolog:def-fact-group costmap-metadata () (prolog:def-fact-group costmap-metadata ()
-  (prolog:<- (location-costmap:costmap-size 10 10)) ; in meters +  (prolog:<- (:costmap-size 10 10)) ; in meters 
-  (prolog:<- (location-costmap:costmap-origin -5 -5)) +  (prolog:<- (:costmap-origin -5 -5)) 
-  (prolog:<- (location-costmap:costmap-resolution 0.05)) +  (prolog:<- (:costmap-resolution 0.05)) 
-  (prolog:<- (location-costmap:costmap-padding 0.01))) ; padding to occupancy map obstacles+  (prolog:<- (:costmap-padding 0.01))) ; padding to occupancy map obstacles
 </code> </code>