Component Short Description: The SmartMapperGridMap provides mapping services based on occupancy grid maps.

The SmartMapperGridMap provides mapping services based on occupancy grid maps. Laser scans are taken for building a current and a longterm map.

The current map represents the latest environment of the robot. It can be preoccupied with grids of the longterm map and can be used for path planning e.g. with SmartPlannerBreadthFirstSearch. It contains either occupied cells or free cells (binary). An optional obstacle growing can be applied to the current map.

The longterm map holds cell values from 0 to 255. Values from 0 to 127 denote the traversability where 0 is completely free. Values from 128 to 255 are special values: Obstacles are marked with 128, cells occupied by obstacle growing with 129 and undeletable grids are marked with 130. The cell values can be accumulated over time to represent the environment over a longer period.

Both grid maps can be saved to XPM and XML and loaded from XML files.

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Drop the current map and create a new map with free cells of dimensions [mm] ?xsize and ?ysize. The map is initialized with an offset [mm] ?xoff and ?yoff relative to world coordinates. The cellsize used for this map as well as the obstacle growing type are specified in the ini-configuration. The id ?id will be assigned to the map to synchronize components, for example with SmartPlannerBreadthFirstSearch and SmartCdlServer. Using this parameter is only allowed in neutral state.

Property: active = false

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Drop the longterm map and create a new map with free cells of dimensions [mm] ?xsize and ?ysize. The map is initialized at offset [mm] ?xoff and ?yoff. The cellsize used for this map is specified in the ini-configuration. The id ?id will be assigned to the map to identify it. Using this parameter is only allowed in neutral state.

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Clear the longterm map and initialize the cells with value ?value.

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Save the current map to XML file test-cur-?number.xml.

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Load the current map from XML file test-cur-?number.xml. Using this parameter is only allowed in neutral state.

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Load the current map from longterm map. The long term map is thresholded to meet the binary representation of the current map. See parameter CURLTM for information on the threshold. Using this parameter is only allowed in neutral state.

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Save the current map to XPM file test-cur-?number.xpm.

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Save the longterm map to XML file test-ltm-.xml.

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Load the longterm map from XML file test-ltm-.xml. Using this parameter is only allowed in neutral state.

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Save the longterm map to XPM file test-ltm-.xpm.

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Property: active = false

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Configures whether the current map is preoccupied from the longterm map. Possible values for ?preoccupy: ENABLE will cause the component to load values from the longterm map in each cycle to the current map by applying the threshold ?thresh to decide on the occupancy of the cell. If DISABLE, the current map is not preoccupied. A threshold is applied to preoccupy the binary current map: The cells of the new current map will be marked free if the value from the long term map is smaller than the threshold ?thresh. The cells will be marked as occupied if the long term map value is above the threshold.

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Change the mode ?mode of building the current map: ACCUMULATE will add new occupied cells from the laser scan while EMPTY will clear the map in each cycle before adding occupied cells from the laser scan.