Skip to content

Latest commit

 

History

History
40 lines (22 loc) · 930 Bytes

README.md

File metadata and controls

40 lines (22 loc) · 930 Bytes
Raw

SpCoMapping

Overview

SpCoMapping for ROS indigo, Ubuntu 14.04.

Description

Preparation

  1. Download the dataset from https://github.com/EmergentSystemLabStudent/Dataset_of_SpCoMapping.git

  2. Put the directory /room* to the spco_mapping/data/DATASET/

  3. Put the file in the directory /map to the spco_mapping/map/map_sigverse/

  4. Set the file path in /src/__init__.py, /src/colormap_saver.cpp

Training

  1. roslaunch spco_mapping amcl.launch

  2. ./spco_mapping.sh

  3. rostopic pub /spco/read_dataset std_msgs/Int8 1
    The integer number has no meaning.

  4. rostopic pub /spco/start_learning std_msgs/String "start"
    The string has no meaning.

Install

In the catkin_workspace

  1. git clone https://github.com/EmergentSystemLabStudent/spco_mapping.git

  2. catkin_make

  3. sudo apt-get update

  4. sudo apt-get install ros-indigo-amcl ros-indigo-map-server