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--- tutorials:intermediate:semantic_environment_map [2016/01/15 16:27] – gkazhoya
+++ tutorials:intermediate:semantic_environment_map [2016/06/14 13:04] – [Setting up] gkazhoya
@@ Line 65: / Line 65: @@
 <code lisp>
-SEMANTIC-MAP-COSTMAP> (setf cram-transforms-stamped:*fixed-frame* "map")
+SEMANTIC-MAP-COSTMAP> (setf cram-tf:*fixed-frame* "map")
 SEMANTIC-MAP-COSTMAP>
 (prolog:def-fact-group costmap-metadata ()
@@ Line 76: / Line 76: @@
   (<- (location-costmap:costmap-in-reach-distance 0.9))
   (<- (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>
@@ Line 172: / Line 172: @@
 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.