SpCoMapping

Overview

SpCoMapping for ROS indigo, Ubuntu 14.04.

Description

Preparation

1. Download the dataset from https://github.com/EmergentSystemLabStudent/Dataset_of_SpCoMapping.git

2. Put the directory /room* to the spco_mapping/data/DATASET/

3. Put the file in the directory /map to the spco_mapping/map/map_sigverse/

4. Set the file path in /src/__init__.py, /src/colormap_saver.cpp

Training

1. roslaunch spco_mapping amcl.launch

2. ./spco_mapping.sh

3. rostopic pub /spco/read_dataset std_msgs/Int8 1
   The integer number has no meaning.

4. rostopic pub /spco/start_learning std_msgs/String "start"
   The string has no meaning.

Install

In the catkin_workspace

1. git clone https://github.com/EmergentSystemLabStudent/spco_mapping.git

2. catkin_make

3. sudo apt-get update

4. sudo apt-get install ros-indigo-amcl ros-indigo-map-server