Differences

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--- hardware:createmap [2017/02/10 13:52] – created balintbe
+++ hardware:createmap [2020/09/18 16:19] (current) – added a disclaimer about changing the map origin kazhoyan
@@ Line 59: / Line 59: @@
 .9/0.0125 = 392  (so the origin of the map will be 392pixels from the left border of the image).
 .9/0.0125 = 152  (the origin is 152pixels from the bottom border)
-The X axis of the rotation of the origin is the X axis of the picture, from left to right (→). The Y axis is from down to up (↑). If you want to change the rotation of the origin, rotate the picture. It is **recommended to upscale the image** to a much higher resolution (eg 2000x2000), then rotate and align, and then scale back to the original resolution, otherwise, your resulting map will have a bad resolution.
+The X axis of the rotation of the origin is the X axis of the picture, from left to right (→). The Y axis is from down to up (↑). The counting starts from top right corner. If you want to change the rotation of the origin, rotate the picture. It is **recommended to upscale the image** to a much higher resolution (eg 2000x2000), then rotate and align, and then scale back to the original resolution, otherwise, your resulting map will have a bad resolution.
   * Step 7: test the map by localizing your robot. For that you'll use the Adaptive Monte Carlo Localization algorithm from the ''amcl'' package. Kill the ''gmapping'' and start publishing the map and the ''amcl'' node. Here's a launch file:
 <code>
@@ Line 71: / Line 71: @@
   * 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.
+**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.