map editor

[DDKAPQ]

Hi when I do SLAM with mapping.launch and rviz looks pretty well so In the next window that pops up after pressing y, the inverted screen for the center line was not created properly, so I thought the border of the map was not clear, so I tried to work with png directly through the map editor, However, the appearance of the saved png file was also saved as an inverted map, different from the appearance of the map in rviz. It looks like GIMP work will be difficult with this file. Is the result correct?

[niciBume]

Hi, can you show the map image?

[DDKAPQ]

This is what the png file looks like when saving the map using roslaunch stack_master mapping.launch map_name:=

and also when I doing roslaunch map_editor map_editor.launch map_name:=PLACE_DATE_VN map_editor_mapping:=True This is not saved as a pgm file for direct map editing, but as a png file.

[niciBume]

I see. Using black tubes is difficult for the LiDAR as it does not reflect as much (see: https://arxiv.org/pdf/2309.10504).

Hence when mapping you need to drive multiple times to get a good map. Probably the SLAM did not get a nice occupancy grid, that's why the part with the white wall is visible in the png but it has problems with the black only sections.

Different things you can do:

• Adapt the SLAM config here for bad reflectivity based on the docs and redo the mapping
• Redo the mapping and drive slowly and multiple times
• You don't need tubes, you can draw an arbitrary map in GIMP. I.e. you could just "finish" the current png. This will not represent the tubes accurately, but then again, technically you don't need them, as localisation is performed with the .pbstream and the track is only needed to compute the racing line

[DDKAPQ]

Thank you. I will try it again as you said.

And I thought that when saving using the map editor method, it would be saved as pgm and modified through GIMP. But are modifications made with that black and white png here as well?

I had a question about the same png as above being saved in map editor launch.

[niciBume]

Should all be saved as png. Check out some additional info in the readme: https://github.com/ForzaETH/race_stack/tree/main/f110_utils/nodes/map_editor