## repository: http://utexas-art-ros-pkg.googlecode.com/svn
<<PackageHeader(art_map)>>
<<TOC(4)>>

== Overview ==

This package provides a C++ API for working with road map and
coordinate representations. These classes are exported in an `artmap`
library.

There is also a ROS node that publishes a road map for the ART
autonomous vehicle to follow, plus some related test utilities.

== ROS Nodes ==

{{{
#!clearsilver CS/NodeAPI
node.0 {
 name = maplanes
 desc = Publish local and global road map for the ART vehicle.
 sub {  
  2.name = odom
  2.type = nav_msgs/Odometry
  2.desc = estimate of vehicle position and velocity
 }
 pub {
  3.name = roadmap_global
  3.type = art_msgs/ArtLanes
  3.desc = global road map lanes (latched topic)
  4.name = roadmap_local
  4.type = art_msgs/ArtLanes
  4.desc = local area road map lanes
 }
param {
0.name= ~poly_size
0.default= 2.5
0.type= double
0.desc=Minimum polygon size for road map lanes (m).
1.name= ~range
1.default= 80.0
1.type= double
1.desc=Publish local road map polygons within this radius (m).
2.name= ~rndf
2.default= ""
2.type= str
2.desc=Road Network Definition File name (required).
}
}
}}}

==== Examples ====

Run the ART map server, publishing `roadmap_global` and `roadmap_local` messages using the RNDF from the 2007 DARPA site visit at Southwest Research Institute.

{{{
 $ roscd art_map
 $ rosrun art_map maplanes _rndf:=rndf/swri/site_visit.rndf
}}}

{{{
#!clearsilver CS/NodeAPI
node.0 {
 name = getpoints
 desc = Write out GPS data from the Applanix POS-LV to waypoint file. This file can then be used to generate RNDFs.
 sub {  
  2.name = gps
  2.type = art_msgs/GpsInfo
  2.desc = GPS data from Applanix POS-LV
 }
}
}}}

==== Usage ====

Run the getpoints node to collect waypoints.
{{{
 $ rosrun art_map getpoints
}}} 

Enter waypoints for lanes, zones or parking spots by pressing the corresponding letter and <Enter>.
{{{
 Valid instructions are:
 L record lane point
 P record zone perimeter point
 S record parking spot point
 E end the current lane or zone point list
 Q quit
}}}

Use the following command to convert waypoint file to RNDF
{{{
 $ `rospack find art_map`/src/node/pointsToRNDF.rb waypoints.txt out.rndf
}}}

{{{
#!clearsilver CS/NodeAPI
node.0 {
 name = test_lanes
 desc = Road map test utility for ART RNDF.
}
}}}

==== Usage ====

{{{
 $ rosrun art_map test_lanes --help
usage: test_lanes [options] RNDF_name

    Display RNDF lane information.  Possible options:
	-h, --help	print this message
	-i, --image	make .pgm image of polygons
	-y, --latitude	initial pose latitude
	-x, --longitude	initial pose longitude
	-s, --size	max polygon size
	-p, --print	print polygons to stdout
	-o, --output-points	print polygon points to polys.points
	-v, --verbose	print verbose messages
}}}




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