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James Heselden edited this page Feb 3, 2025 · 3 revisions

Envirionment Map Access

As detailed in ROS2-Package#access, the system uses a bash file named Environment.sh to handle accessing contained maps.

The environment.sh file contains exports for each of the maps contained within the template, with check conditions to verify the files are contained correctly.

This file is stored in the config directory.

This file exports each file path and sources the properties.sh file.

Property Definitions

For additional information about the site, the properties.sh file can be used.

This file can contain information such as:

  • site name
  • site ownership
  • site foundation

Included maps by Version 1.0.1

In the latest version, the following maps are included and considered:

  • location
    • data.yaml
    • fence.kml
    • satellite.png
  • metric
    • map/costmap.yaml
    • map/costmap.pgm
    • map/costmap.png
    • map/costmap-tp.png
    • map/costmap.kmz
  • topological
    • network.tmap.yaml
    • network.tmap2.yaml
    • navgraph.yaml
    • osm.kml
    • interactions.kml
    • network.kml
  • world
    • fiducial_markers.yaml
    • gazebo.world.xml
    • openrmf.building.yaml
    • known_obstacles.yaml
    • custom_models/

As detailed in PR#4, version 1.0.2 will contain a collection of new map formats. Systems/maps planned for inclusion under this version:

  • metric
    • octomap.yaml
  • topological
    • ANYBotics topological map
  • world
    • POI.tmap2.yaml
    • Simio DES Digital Twin

Heirarchy

The heirarchy is divided up based on information type, categorising into: Location, Objects, Occupancy, and Topology.

More about this can be found HERE

This work was supported by AgriFoRwArdS CDT, under the Engineering and Physical Sciences Research Council [EP/S023917/1].

This work was completed in association with the Agri-OpenCore project under Innovate UK grant 10041179.

For citation of the associated workshop publication please use the following bibtex:

@inproceedings{heselden2024unified,
  title={Unified Map Handling for Robotic Systems: Enhancing Interoperability and Efficiency Across Diverse Environments},
  author={James R. Heselden and Gautham P. Das},
  year={2024},
  eprint={2404.13499},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  booktitle={Proceedings of the Workshop on Field Robotics, ICRA 2024},
  address={Yokohama, Japan},
  doi={10.48550/arXiv.2404.13499}
}

For citation of this software repository please use the following bibtex:

@misc{LCASEnvironmentTemplate,
  author = {Heselden, James R. and Das, Gautham P.},
  title = {{Environment Template}},
  howpublished = {\url{https://github.com/LCAS/environment_template}},
  year = {2024},
  note = {Accessed: [access date]}
}
Overview
Usage

How to Use

Upgrading Environment Version

Datasets

Dataset Directory

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