/erp42_costmap_maker

erp42_costmap_maker

Primary LanguagePython

erp42_costmap_maker

erp42_costmap_maker

Requirements

$ export PYTHONPATH=
$ python3 -m venv .venv
$ source .venv/bin/activate

$ pip install --upgrade pip
$ pip install -r requirements.txt
$ deactivate

Usage

  • If you just want to show map preview, set debug_mode (line21) as True. Then code don't calculate costmap.
  • Convert waypoint to costmap
$ source .venv/bin/activate
$ python3 scripts/erp42_costmap_maker.py
$ deactivate
  • Change some yaml parts after run
    • change '[-14.0, -51.0, 0] please remove single quote' to [-14.0, -51.0, 0]
    • change negate from 0 to 1 or from 1 to 0
free_thresh: 0.196
image: ./map_songdo_221017_v1.pgm
negate: 0
occupied_thresh: 0.65
origin: '[-14.0, -51.0, 0] please remove single quote'
resolution: 0.1