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Co-authored-by: zaporter-work <work-github@zackporter.com> Co-authored-by: Nick Sanford <nick.sanford@viam.com>
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Apr 7, 2023
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,2 +1,39 @@ | ||
| // Package main is a module with a cartographer SLAM service model. | ||
| package main | ||
|
|
||
| import ( | ||
| "context" | ||
|
|
||
| "github.com/edaniels/golog" | ||
| "go.viam.com/rdk/module" | ||
| "go.viam.com/rdk/services/slam" | ||
| "go.viam.com/utils" | ||
|
|
||
| viamcartographer "github.com/viamrobotics/viam-cartographer" | ||
| ) | ||
|
|
||
| func main() { | ||
| utils.ContextualMain(mainWithArgs, golog.NewLogger("cartographerModule")) | ||
| } | ||
|
|
||
| func mainWithArgs(ctx context.Context, args []string, logger golog.Logger) error { | ||
| // Instantiate the module | ||
| cartoModule, err := module.NewModuleFromArgs(ctx, logger) | ||
| if err != nil { | ||
| return err | ||
| } | ||
|
|
||
| // Add the cartographer model to the module | ||
| if err = cartoModule.AddModelFromRegistry(ctx, slam.Subtype, viamcartographer.Model); err != nil { | ||
| return err | ||
| } | ||
|
|
||
| // Start the module | ||
| err = cartoModule.Start(ctx) | ||
| defer cartoModule.Close(ctx) | ||
| if err != nil { | ||
| return err | ||
| } | ||
| <-ctx.Done() | ||
| return nil | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| { | ||
| "components": [ | ||
| { | ||
| "model": "viam:lidar:rplidar", | ||
| "name": "rplidar", | ||
| "namespace": "rdk", | ||
| "type": "camera", | ||
| "depends_on": [] | ||
| } | ||
| ], | ||
| "services": [ | ||
| { | ||
| "name": "slam-test", | ||
| "model": "viam:slam:cartographer", | ||
| "type": "slam", | ||
| "attributes": { | ||
| "port": "localhost:8083", | ||
| "data_dir": "/home/USERNAME/DATA_DIR", | ||
| "delete_processed_data": true, | ||
| "use_live_data": true, | ||
| "map_rate_sec": 30, | ||
| "sensors": [ | ||
| "rplidar" | ||
| ], | ||
| "config_params": { | ||
| "optimize_on_start": "true", | ||
| "num_range_data": "100", | ||
| "mode": "2d", | ||
| "max_submaps_to_keep": "2" | ||
| } | ||
| } | ||
| } | ||
| ], | ||
| "modules": [ | ||
| { | ||
| "executable_path": "/usr/local/bin/rplidar-module", | ||
| "name": "rplidar_module" | ||
| }, | ||
| { | ||
| "executable_path": "/usr/local/bin/cartographer-module", | ||
| "name": "cartographer-module" | ||
| } | ||
| ] | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| { | ||
| "components": [ | ||
| { | ||
| "model": "viam:lidar:rplidar", | ||
| "attributes": { | ||
| "device_path": "/dev/tty.SLAB_USBtoUART" | ||
| }, | ||
| "name": "rplidar", | ||
| "namespace": "rdk", | ||
| "type": "camera", | ||
| "depends_on": [] | ||
| } | ||
| ], | ||
| "services": [ | ||
| { | ||
| "name": "slam-test", | ||
| "model": "viam:slam:cartographer", | ||
| "type": "slam", | ||
| "attributes": { | ||
| "port": "localhost:8083", | ||
| "data_dir": "/Users/USERNAME/test-delete-me", | ||
| "delete_processed_data": true, | ||
| "use_live_data": true, | ||
| "map_rate_sec": 30, | ||
| "sensors": [ | ||
| "rplidar" | ||
| ], | ||
| "config_params": { | ||
| "optimize_on_start": "true", | ||
| "num_range_data": "100", | ||
| "mode": "2d", | ||
| "max_submaps_to_keep": "2" | ||
| } | ||
| } | ||
| } | ||
| ], | ||
| "modules": [ | ||
| { | ||
| "executable_path": "/usr/local/bin/rplidar-module", | ||
| "name": "rplidar_module" | ||
| }, | ||
| { | ||
| "executable_path": "/usr/local/bin/cartographer-module", | ||
| "name": "cartographer-module" | ||
| } | ||
| ] | ||
| } |
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