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tutorials:intermediate:semantic_environment_map [2016/01/15 14:22] – gkazhoyatutorials:intermediate:semantic_environment_map [2016/06/14 13:04] – [Setting up] gkazhoya
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 </code> </code>
  
-There are three things we need to setup in CRAM to use semantic maps from KnowRob: the fixed frame of our TF tree, the configuration of our location costmap and a new ROS node:+To use semantic maps from KnowRob in CRAM we first need to set our ''*fixed-frame*'', configure the location costmap and start a new ROS node:
  
 <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>
  
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 </code> </code>
  
 +We can also ask for a location of an semantic map part:
 +<code lisp>
 +SEMANTIC-MAP-COSTMAP> (make-designator :location `((:of
 +                                                    ,(make-designator :object '((:name "kitchen_island"))))))
 +#<LOCATION-DESIGNATOR ((:OF
 +                        #<OBJECT-DESIGNATOR ((:NAME "kitchen_island"))
 +                          {100E276F63}>)) {100E37ABA3}>
 +                          
 +SEMANTIC-MAP-COSTMAP> (reference *)
 +#<CL-TRANSFORMS-STAMPED:POSE-STAMPED 
 +   FRAME-ID: "map", STAMP: 0.0
 +   #<3D-VECTOR (-1.0528899431228638d0 1.6562440395355225d0 0.42500001192092896d0)>
 +   #<QUATERNION (0.0d0 0.0d0 1.0d0 0.0d0)>>
 +</code>
  
 +A location description can be ambiguous, e.g., if we would like to have a location of an object of a certain semantic map part type:
 +<code lisp>
 +SEMANTIC-MAP-COSTMAP> 
 +(let* ((object-of-type-cupboard (make-designator :object '((:type "Cupboard"))))
 +       (location-of-cupboard (make-designator :location `((:of ,object-of-type-cupboard)))))
 +  (format t "one solution: ~a~%" (reference location-of-cupboard))
 +  (format t "another solution: ~a~%" (reference (next-solution location-of-cupboard))))
 +one solution: #<POSE-STAMPED 
 +   FRAME-ID: "map", STAMP: 0.0
 +   #<3D-VECTOR (-1.0528899431228638d0 -0.44999998807907104d0 0.36000001430511475d0)>
 +   #<QUATERNION (0.0d0 0.0d0 1.0d0 0.0d0)>>
 +another solution: #<POSE-STAMPED 
 +   FRAME-ID: "map", STAMP: 0.0
 +   #<3D-VECTOR (1.5159399509429932d0 0.30313000082969666d0 0.42500001192092896d0)>
 +   #<QUATERNION (0.0d0 0.0d0 0.0d0 1.0d0)>>
 +</code>
 +There are multiple objects of type cupboard, so we get multiple solutions.
 +
 +In the example semantic map '':type'' can be ''"Cupboard"'', ''"Drawer"'', ''"Refrigerator"'', etc., see the semantic map object for more detail.
 +
 +Now, let's use the location costmap mechanism to ground locations on or in objects:
 +<code lisp>
 +SEMANTIC-MAP-COSTMAP> (reference (make-designator :location '((:in "Refrigerator"))))
 +#<CL-TRANSFORMS-STAMPED:POSE-STAMPED 
 +   FRAME-ID: "map", STAMP: 0.0
 +   #<3D-VECTOR (1.3000001907348633d0 -0.9499998092651367d0 0.53999999538064d0)>
 +   #<QUATERNION (0.0d0 0.0d0 0.0d0 1.0d0)>>
 +</code>
 +{{ :tutorials:intermediate:in-fridge.png?direct&600 |}}
 +The big red dot is the location sampled for this designator.
 +
 +If we want a location on a specific object, not on all objects of a certain type, we can specify that using the '':name'' key:
 +<code lisp>
 +SEMANTIC-MAP-COSTMAP> (reference (make-designator :location '((:on "Cupboard")
 +                                                              (:name "kitchen_island"))))
 +#<CL-TRANSFORMS-STAMPED:POSE-STAMPED 
 +   FRAME-ID: "map", STAMP: 0.0
 +   #<3D-VECTOR (-0.6999998092651367d0 1.0500001907348633d0 0.8500000238418579d0)>
 +   #<QUATERNION (0.0d0 0.0d0 0.0d0 1.0d0)>>
 +</code>
 +{{ :tutorials:intermediate:location_on_kitchen_island.png?direct&1000 |}}
 +The marker array in RViz show a uniform distribution of all possible locations that satisfy the symbolic constraint in the designator.