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jbonnett92 / CPlusPluss-Occupancy-Grid

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more info about poses.txt and ranges.txt file #1

Closed afazel closed 2 years ago

afazel commented 5 years ago

Can you please let me know what are the columns in poses.txt and ranges.txt? I believe poses.txt contains [robotX,robotY,robotTheta] and each line belong to one timestamp, is that correct? How about ranges.txt?

jbonnett92 commented 5 years ago

Hi @afazel Yes you are correct, the ranges.txt contains the sensor values each line belongs to one timestamp too. We were not told what sensor they were or where they were on the robot, although that didn't matter in our case.

I treated each one as a distance sensor and spaced them out evenly around the robot by adding a yaw value to the sensor object. You can see the code that does that here. See the second parameter.

Jamie

jbonnett92 commented 5 years ago

Could I ask what you're working on? I seen that you had questions about multiple occupancy grid projects.