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Semantic environment map in CRAM

Description: This tutorial demonstrates how to use the semantic environment map published by Knowrob within CRAM. Such map has semantically annotated objects of robot's environment, mostly the furniture in indoor scenarios or landmarks outdoors. This tutorial shows how to load the map, how to query for specific parts thereof and how to build and resolve location designators using the semantic map.

Prerequisites: To be able to follow this tutorial you need the following packages in your ROS workspace, compiled without errors:

If you installed CRAM using the official installation instructions you should have everything already. Otherwise, clone the listed repos, install the missing system dependencies with rosdep install and catkin_make your workspace.

Setting up

Step 1: start publishing the semantic environment map through JSON Prolog and TF etc.. In a fresh terminal:

$ roslaunch iai_maps iai_maps.launch

Step 2: visualization setup. In a separate terminal:

$ rosrun rviz rviz
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