Differences
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| Both sides previous revisionPrevious revision | |
| hardware:createmap [2017/11/21 15:23] – gkazhoya | hardware:createmap [2020/09/18 16:19] (current) – added a disclaimer about changing the map origin kazhoyan |
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| * Step 9: upload your new map to the ''iai_maps'' repository, ''iai_maps/iai_maps/maps'' directory | * Step 9: upload your new map to the ''iai_maps'' repository, ''iai_maps/iai_maps/maps'' directory |
| * Step 10: update the ''iai_maps/iai_maps/launch/map.launch'' file to point to your new awesome map. | * Step 10: update the ''iai_maps/iai_maps/launch/map.launch'' file to point to your new awesome map. |
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| | **Important**: if you change the origin of the map from what it used to be previously, make sure you also adapt the transform between the origin of the furniture of the room and the map. That's usually specified in the static transform publisher of the map URDF launch file, e.g., ''iai_kitchen/launch/upload_kitchen.launch'' or ''upload_kitchen_obj.launch'' or similar. In addition to editing this launch file, also make sure that you tell everybody, who uses the environment models (pretty much everyone who has anything to do with the robot) that you have changed the origin. |
