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Only released in EOL distros:   electric fuerte groovy

Overview

This package provides a C++ API for working with road map and coordinate representations. These classes are exported in an artmap library.

There is also a ROS node that publishes a road map for the ART autonomous vehicle to follow, plus some related test utilities.

ROS Nodes

maplanes

Publish local and global road map for the ART vehicle.

Subscribed Topics

odom (nav_msgs/Odometry)

• estimate of vehicle position and velocity

Published Topics

roadmap_global (art_msgs/ArtLanes)

• global road map lanes (latched topic)

roadmap_local (art_msgs/ArtLanes)

• local area road map lanes

Parameters

~poly_size (double, default: 2.5)

• Minimum polygon size for road map lanes (m).

~range (double, default: 80.0)

• Publish local road map polygons within this radius (m).

~rndf (str, default: "")

• Road Network Definition File name (required).

Examples

Run the ART map server, publishing roadmap_global and roadmap_local messages using the RNDF from the 2007 DARPA site visit at Southwest Research Institute.

 $ roscd art_map
 $ rosrun art_map maplanes _rndf:=rndf/swri/site_visit.rndf

getpoints

Write out GPS data from the Applanix POS-LV to waypoint file. This file can then be used to generate RNDFs.

Subscribed Topics

gps (art_msgs/GpsInfo)

• GPS data from Applanix POS-LV

Usage

Run the getpoints node to collect waypoints.

 $ rosrun art_map getpoints

Enter waypoints for lanes, zones or parking spots by pressing the corresponding letter and <Enter>.

 Valid instructions are:
 L record lane point
 P record zone perimeter point
 S record parking spot point
 E end the current lane or zone point list
 Q quit

Use the following command to convert waypoint file to RNDF

 $ `rospack find art_map`/src/node/pointsToRNDF.rb waypoints.txt out.rndf

test_lanes

Road map test utility for ART RNDF.

Usage

 $ rosrun art_map test_lanes --help
usage: test_lanes [options] RNDF_name

    Display RNDF lane information.  Possible options:
        -h, --help      print this message
        -i, --image     make .pgm image of polygons
        -y, --latitude  initial pose latitude
        -x, --longitude initial pose longitude
        -s, --size      max polygon size
        -p, --print     print polygons to stdout
        -o, --output-points     print polygon points to polys.points
        -v, --verbose   print verbose messages