Local Mapper

Local Mapper#

A global map refers to a reference map containing the static space information. A local map, on the other hand, is a smaller ego-centric map around the robot that reflects the space dynamics using realtime sensor information. Local maps can reflect information fused from multiple sensors, providing a more stable, robust and complete source of information to the Controller rather than getting the direct sensor information.

LocalMapper component is responsible for generating this local map during the navigation.

Note

Current implementation supports LaserScan sensor data to create an Occupancy Grid local map. PointCloud and semantic information will be supported in an upcoming release

Available Run Types#

Set from ControllerConfig class or directly from Controller ‘run_type’ property.

Timed

Produces a local map periodically if all inputs are available

Inputs#

Key Name

Allowed Types

Number

Default

sensor_data

sensor_msgs.msg.LaserScan

1

Topic(name="/scan", msg_type="LaserScan")

location

nav_msgs.msg.Odometry, geometry_msgs.msg.PoseStamped, geometry_msgs.msg.Pose

1

Topic(name="/odom", msg_type="Odometry")

Outputs#

Key Name

Allowed Types

Number

Default

local_map

nav_msgs.msg.OccupancyGrid

1

Topic(name="/local_map/occupancy_layer", msg_type="OccupancyGrid")

Usage Example:#

    from kompass_core.mapping import LocalMapperConfig
    from kompass.components import LocalMapper, MapperConfig

    # Select map parameters
    map_params = MapperConfig(width=5.0, height=5.0, resolution=0.2) # 5mX5m map with 0.2m/cell resolution

    # Setup custom component configuration
    my_config = LocalMapperConfig(loop_rate=10.0, map_params=map_params)

    # Init a mapper
    my_mapper = LocalMapper(component_name="mapper", config=my_config)
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