snowmower_mapping
This repository handles the creation of nav_msgs/OccupancyGrid messages that mark areas with snow (or grass) and areas that have been plowed (or mowed).
To Do
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DONE Use waitForTransform between frames instead of subscribing to odom.
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DONE Make sure the last waypoints are inititialized when the mapper begins mapping.
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DONE Fix the problem where the circle seems to shift to the right and the right side gets moved over to the left side.
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DONE Sometimes the circle doesn't show up at the end of the rectangle. Are we making the circle at the beginning or the end of the path?
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DONE Use the ROS parameter server to intialize variables in the class constructor.
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Allow map to be initialized with two of the following: numCols/numRows, ppm, width/height (in meters). And, if all three are used, display a warning and use width/height and whichever resolution is greater.
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DONE Allow the option to import an image file which indicates known a priori grass. Then also publish an occupancy grid that contains the known grass minus the mowed grass.
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DONE Add map server.
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DONE Add a service to reset the map and percentage complete, raise and lower the pen, and get the map (mowed, static grass, and remaining grass maps).
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Should the map be initialized from the grass image (number of columns/rows)? Then the resolution (ppm or mpp) or height/width in meters are the only necessary parameters. However, given a really big image, this process might take a long time.
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DONE Figure out why "paint drip" effect is happening.
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DONE Allow user to specify image name from command line or launch file.