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tutorials:intermediate:semantic_environment_map [2016/01/15 16:24] – gkazhoya | tutorials:intermediate:semantic_environment_map [2016/06/14 13:15] (current) – [Setting up] gkazhoya | ||
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<code lisp> | <code lisp> | ||
- | SEMANTIC-MAP-COSTMAP> | + | SEMANTIC-MAP-COSTMAP> |
SEMANTIC-MAP-COSTMAP> | SEMANTIC-MAP-COSTMAP> | ||
(prolog: | (prolog: | ||
Line 149: | Line 149: | ||
#< | #< | ||
</ | </ | ||
+ | |||
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: | 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> | <code lisp> | ||
Line 165: | Line 166: | ||
#< | #< | ||
</ | </ | ||
+ | There are multiple objects of type cupboard, so we get multiple solutions. | ||
+ | |||
+ | In the example semantic map '': | ||
+ | |||
+ | Now, let's use the location costmap mechanism to ground locations on or in objects: | ||
+ | <code lisp> | ||
+ | SEMANTIC-MAP-COSTMAP> | ||
+ | #< | ||
+ | | ||
+ | #< | ||
+ | #< | ||
+ | </ | ||
+ | {{ : | ||
+ | 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 '': | ||
+ | <code lisp> | ||
+ | SEMANTIC-MAP-COSTMAP> | ||
+ | (:name " | ||
+ | #< | ||
+ | | ||
+ | #< | ||
+ | #< | ||
+ | </ | ||
+ | {{ : | ||
+ | The marker array in RViz show a uniform distribution of all possible locations that satisfy the symbolic constraint in the designator. |