ninjacar_map

Tools to create .npz map. Created for the implementation of MPPI on the NinjaCar platform.

Procedure

In order to generate the map correctly, one must follow the following procedure:

1. Write the topic where the vehicle's pose is being published in line #11 of mapRecorder.py.

2. Ensure the space the vehicle will be moving around is in x-y coordinates (check mocap software).

3. Run commands:

python mapRecorder.py N03
python mapMaker.py N03.txt
python mapViewer.py N03.npz

(These were ran in python2, but if it has to be run in python3, the mapfunction that returns an error must be turned into a list)

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mapRecorder.py

Reads the position of the car from the Motion capture software and records it into a specified .txt file.

Usage:

USAGE: python mapRecorder.py <mapOutputFile>

Note: To be able to receive the pose from the MoCap system one must first connect to it.

roslaunch vrpn_client_ros sample.launch server:=tracker

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mapMaker.py

Takes a .txt file that contains a list of X and Y coordinates and generates a .npz map with the same name.

Usage:

USAGE: python mapMaker.py <coordsFile>

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mapViewer.py

Displays the map that has been obtained by the mapMaker.py script. Good for verification/debugging.

Usage:

"USAGE: python mapViewer.py <mapFile> OPTIONAL: <x> <y>"

The x and y coordiantes will display a circle in those coordinates.