Map Editing

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Map Editing

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Map editing is started with

editnavmap

 

 

After a new map is created, it contains information that the robot uses to find its own position through a statistical method.

All areas in which the laser scanner was not obstructed are marked as free, while every position that reflected a laser will

be marked as a black obstacle.

Because the laser can only scan in the 2D-plane, it will often not correctly represent the room. A typical example of this is

a table under which the robot is not supposed to move or a low obstacle on the ground which was cleared by the scan.

 

This is why the map can be modified manually to transform it into a map that the robot can actually navigate safely.

Map editing mode allows the user to manually block or free any areas in order to bring more information about the 3D world

into the 2D map.

 

 

Usage

 

mapeditor_01

                 example of a typical, new map in editing view

 

pointer

The select tool lets the user navigate and zoom the map.

pencil

The pen tool allows the user to block off any sections of the map which will be marked in red.

No robot may pass any part of a blocked section and navigation will treat it as an obstacle.

rubber

With the erase tool the user can free any parts of the map, which are marked as white.

copywalls

Overwrites the navigation map with the localization map. This will reset any edits made to the map.

navmapfilter

Filters small obstacle cells from the map because single obstacle spots can appear on the map as a result of inaccurate

laser readings during the mapping process. As this "cleans" the map of any small obstacles there is a chance that

actual real objects which are smaller than two cells in the map may be erroneously removed as well.

 

cancelbutton

Cancels the current editing of the map. All changes will be undone.

acceptbutton

Ends editing and saves all changes to the map.

The navigation of all currently active robots will be restarted.