Gazebo slam

utexas_gdc/maps/simulation/3ne/3ne.yaml

@@ -1,6 +1,7 @@
 image: 3ne.pgm
-resolution: 0.05000
-origin: [-13.15, -2.0, 0.0]
+resolution: 0.050000
+origin: [-20.000000, -10.000000, 0.000000]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.196
+

utexas_gdc/maps/simulation/3ne/doors.yaml

@@ -1,200 +1,208 @@
 - approach:
   - from: l3_400
-    point: [-7.0, 15.25, -1.6010900867136721]
+    point: [-8.26, 17.995, -1.60109008671]
   - from: l3_404
-    point: [-6.6, 17.150000000000002, 1.2351577764672872]
-  door_corner_pt_1: [-7.4, 16.150000000000002]
-  door_corner_pt_2: [-6.55, 16.0]
+    point: [-7.788, 20.237, 1.23515777647]
+  door_corner_pt_1: [-8.732, 19.057]
+  door_corner_pt_2: [-7.729, 18.88]
   name: d3_404
 - approach:
   - from: l3_508
-    point: [6.85, 6.300000000000001, -1.9237867146218084]
+    point: [8.083, 7.434, -1.92378671462]
   - from: l3_500
-    point: [7.200000000000001, 8.05, 1.5707963267948966]
-  door_corner_pt_1: [6.750000000000002, 7.300000000000001]
-  door_corner_pt_2: [7.65, 7.200000000000001]
+    point: [8.496, 9.499, 1.57079632679]
+  door_corner_pt_1: [7.965, 8.614]
+  door_corner_pt_2: [9.027, 8.496]
   name: d3_508
 - approach:
   - from: l3_400
-    point: [-8.15, 15.350000000000001, -1.6041173226731442]
+    point: [-9.617, 18.113, -1.60411732267]
   - from: l3_402
-    point: [-8.5, 17.05, 1.9467572806662026]
-  door_corner_pt_1: [-8.55, 16.1]
-  door_corner_pt_2: [-7.7, 16.1]
+    point: [-10.03, 20.119, 1.94675728067]
+  door_corner_pt_1: [-10.089, 18.998]
+  door_corner_pt_2: [-9.086, 18.998]
   name: d3_402
 - approach:
   - from: l3_516
-    point: [20.200000000000003, 4.75, -0.031239833430268833]
+    point: [23.836, 5.605, -0.0312398334303]
   - from: l3_514
-    point: [18.5, 4.75, -3.113822016996372]
-  door_corner_pt_1: [19.400000000000006, 3.9000000000000004]
-  door_corner_pt_2: [19.400000000000006, 5.65]
+    point: [21.83, 5.605, -3.113822017]
+  door_corner_pt_1: [22.892, 4.602]
+  door_corner_pt_2: [22.892, 6.667]
   name: d3_516a
 - approach:
   - from: l3_502
-    point: [-4.65, 6.300000000000001, -1.9004207342156398]
+    point: [-5.487, 7.434, -1.90042073422]
   - from: l3_500
-    point: [-4.35, 8.05, 1.6020361602251643]
-  door_corner_pt_1: [-4.75, 7.25]
-  door_corner_pt_2: [-3.9000000000000004, 7.25]
+    point: [-5.133, 9.499, 1.60203616023]
+  door_corner_pt_1: [-5.605, 8.555]
+  door_corner_pt_2: [-4.602, 8.555]
   name: d3_502
 - approach:
   - from: l3_428
-    point: [29.150000000000006, 13.600000000000001, -1.2315037123408503]
+    point: [34.397, 16.048, -1.23150371234]
   - from: l3_400
-    point: [28.85, 15.100000000000001, 1.570796326794902]
-  door_corner_pt_1: [28.400000000000006, 14.45]
-  door_corner_pt_2: [29.300000000000004, 14.45]
+    point: [34.043, 17.818, 1.57079632679]
+  door_corner_pt_1: [33.512, 17.051]
+  door_corner_pt_2: [34.574, 17.051]
   name: d3_428
 - approach:
   - from: l3_414b
-    point: [24.550000000000004, 13.5, -1.8766751981997492]
+    point: [28.969, 15.93, -1.8766751982]
   - from: l3_400
-    point: [24.800000000000004, 15.25, 1.633215136790855]
-  door_corner_pt_1: [24.400000000000006, 14.5]
-  door_corner_pt_2: [25.300000000000004, 14.400000000000002]
+    point: [29.264, 17.995, 1.63321513679]
+  door_corner_pt_1: [28.792, 17.11]
+  door_corner_pt_2: [29.854, 16.992]
   name: d3_414b2
 - approach:
   - from: l3_400
-    point: [16.1, 15.2, -1.5444866095419723]
+    point: [18.998, 17.936, -1.54448660954]
   - from: l3_422
-    point: [16.5, 17.05, 1.1296168463799148]
-  door_corner_pt_1: [15.65, 16.150000000000002]
-  door_corner_pt_2: [16.5, 16.150000000000002]
+    point: [19.47, 20.119, 1.12961684638]
+  door_corner_pt_1: [18.467, 19.057]
+  door_corner_pt_2: [19.47, 19.057]
   name: d3_422
 - approach:
   - from: l3_400
-    point: [14.950000000000001, 15.25, -1.5413930385908912]
+    point: [17.641, 17.995, -1.54139303859]
   - from: l3_420
-    point: [14.500000000000002, 17.05, 1.991459675927931]
-  door_corner_pt_1: [14.500000000000002, 16.1]
-  door_corner_pt_2: [15.35, 16.1]
+    point: [17.11, 20.119, 1.99145967593]
+  door_corner_pt_1: [17.11, 18.998]
+  door_corner_pt_2: [18.113, 18.998]
   name: d3_420
 - approach:
   - from: l3_426
-    point: [26.35, 13.55, -1.224257462360955]
+    point: [31.093, 15.989, -1.22425746236]
   - from: l3_400
-    point: [26.1, 15.25, 1.4773195456363082]
-  door_corner_pt_1: [25.6, 14.45]
-  door_corner_pt_2: [26.450000000000003, 14.45]
+    point: [30.798, 17.995, 1.47731954564]
+  door_corner_pt_1: [30.208, 17.051]
+  door_corner_pt_2: [31.211, 17.051]
   name: d3_426
 - approach:
   - from: l3_414a
-    point: [11.9, 13.9, -3.1082716577115455]
+    point: [14.042, 16.402, -3.10827165771]
   - from: l3_414
-    point: [13.4, 13.9, -0.03332099587824767]
-  door_corner_pt_1: [12.65, 14.350000000000001]
-  door_corner_pt_2: [12.65, 13.5]
+    point: [15.812, 16.402, -0.0333209958782]
+  door_corner_pt_1: [14.927, 17.133]
+  door_corner_pt_2: [14.927, 15.73]
   name: d3_414a3
 - approach:
   - from: l3_414a
-    point: [6.450000000000001, 13.65, -1.5707963267948966]
+    point: [7.611, 16.107, -1.57079632679]
   - from: l3_400
-    point: [6.450000000000001, 15.25, 1.5707963267948966]
-  door_corner_pt_1: [5.6, 14.45]
-  door_corner_pt_2: [7.3000000000000025, 14.45]
+    point: [7.611, 17.995, 1.57079632679]
+  door_corner_pt_1: [6.308, 17.051]
+  door_corner_pt_2: [8.914, 17.051]
   name: d3_414a1
 - approach:
   - from: l3_400
-    point: [31.400000000000006, 15.3, -1.6262948320406143]
+    point: [37.052, 18.054, -1.62629483204]
   - from: l3_432
-    point: [31.800000000000004, 17.150000000000002, 1.2178059389679892]
-  door_corner_pt_1: [31.000000000000007, 16.2]
-  door_corner_pt_2: [31.900000000000006, 16.2]
+    point: [37.524, 20.237, 1.21780593897]
+  door_corner_pt_1: [36.58, 19.116]
+  door_corner_pt_2: [37.642, 19.116]
   name: d3_432
 - approach:
   - from: l3_500
-    point: [6.1, 8.15, -1.6020361602251676]
+    point: [7.198, 9.617, -1.60203616023]
   - from: l3_414a
-    point: [6.500000000000002, 9.9, 1.1948353729235908]
-  door_corner_pt_1: [5.700000000000001, 8.950000000000001]
-  door_corner_pt_2: [6.5500000000000025, 8.950000000000001]
+    point: [7.67, 11.682, 1.19483537292]
+  door_corner_pt_1: [6.726, 10.561]
+  door_corner_pt_2: [7.729, 10.561]
   name: d3_414a2
 - approach:
   - from: l3_436
-    point: [35.45, 15.45, 0.031239833430266612]
+    point: [41.831, 18.231, 0.0312398334303]
   - from: l3_400
-    point: [33.7, 15.2, -2.9090357117848833]
-  door_corner_pt_1: [34.650000000000006, 15.0]
-  door_corner_pt_2: [34.650000000000006, 15.850000000000001]
+    point: [39.766, 17.936, -2.90903571178]
+  door_corner_pt_1: [40.887, 17.7]
+  door_corner_pt_2: [40.887, 18.703]
   name: d3_436a
 - approach:
   - from: l3_436
-    point: [37.7, 8.4, 0.10673567264913779]
+    point: [44.486, 9.912, 0.106735672649]
   - from: l3_500
-    point: [36.2, 8.0, -2.755709984191722]
-  door_corner_pt_1: [37.00000000000001, 7.9]
-  door_corner_pt_2: [37.00000000000001, 8.75]
+    point: [42.716, 9.44, -2.75570998419]
+  door_corner_pt_1: [43.66, 9.322]
+  door_corner_pt_2: [43.66, 10.325]
   name: d3_436b
 - approach:
   - from: l3_412
-    point: [4.65, 13.55, -1.8525681940682492]
+    point: [5.487, 15.989, -1.85256819407]
   - from: l3_400
-    point: [5.000000000000002, 15.25, 1.4711276743037331]
-  door_corner_pt_1: [4.500000000000002, 14.5]
-  door_corner_pt_2: [5.35, 14.5]
+    point: [5.9, 17.995, 1.4711276743]
+  door_corner_pt_1: [5.31, 17.11]
+  door_corner_pt_2: [6.313, 17.11]
   name: d3_412
 - approach:
   - from: l3_400
-    point: [7.200000000000001, 15.25, -1.5707963267948966]
+    point: [8.496, 17.995, -1.57079632679]
   - from: l3_416
-    point: [6.750000000000002, 17.05, 2.0131705497716412]
-  door_corner_pt_1: [6.750000000000002, 16.1]
-  door_corner_pt_2: [7.65, 16.1]
+    point: [7.965, 20.119, 2.01317054977]
+  door_corner_pt_1: [7.965, 18.998]
+  door_corner_pt_2: [9.027, 18.998]
   name: d3_416
 - approach:
   - from: l3_400
-    point: [8.4, 15.3, -1.4827889532671568]
+    point: [9.912, 18.054, -1.48278895327]
   - from: l3_418
-    point: [8.700000000000001, 17.0, 1.1553042308540051]
-  door_corner_pt_1: [7.9, 16.150000000000002]
-  door_corner_pt_2: [8.750000000000002, 16.150000000000002]
+    point: [10.266, 20.06, 1.15530423085]
+  door_corner_pt_1: [9.322, 19.057]
+  door_corner_pt_2: [10.325, 19.057]
   name: d3_418
 - approach:
   - from: l3_512
-    point: [14.500000000000002, 6.35, -1.9173351912288377]
+    point: [17.11, 7.493, -1.91733519123]
   - from: l3_500
-    point: [14.9, 7.950000000000001, 1.4640606541457621]
-  door_corner_pt_1: [14.4, 7.25]
-  door_corner_pt_2: [15.250000000000002, 7.25]
+    point: [17.582, 9.381, 1.46406065415]
+  door_corner_pt_1: [16.992, 8.555]
+  door_corner_pt_2: [17.995, 8.555]
   name: d3_512
 - approach:
   - from: l3_510
-    point: [8.700000000000001, 6.25, -1.2120256565243244]
+    point: [10.266, 7.375, -1.21202565652]
   - from: l3_500
-    point: [8.450000000000001, 8.0, 1.4056476493802699]
-  door_corner_pt_1: [7.9, 7.25]
-  door_corner_pt_2: [8.750000000000002, 7.25]
+    point: [9.971, 9.44, 1.40564764938]
+  door_corner_pt_1: [9.322, 8.555]
+  door_corner_pt_2: [10.325, 8.555]
   name: d3_510
 - approach:
   - from: l3_414b
-    point: [18.75, 13.9, -0.03844259002118861]
+    point: [22.125, 16.402, -0.0384425900212]
   - from: l3_414
-    point: [17.450000000000003, 13.9, -3.1031500635686045]
-  door_corner_pt_1: [18.1, 13.5]
-  door_corner_pt_2: [18.1, 14.350000000000001]
+    point: [20.591, 16.402, -3.10315006357]
+  door_corner_pt_1: [21.358, 15.93]
+  door_corner_pt_2: [21.358, 16.933]
   name: d3_414b3
 - approach:
   - from: l3_400
-    point: [30.1, 15.3, -1.6262948320406143]
+    point: [35.518, 18.054, -1.62629483204]
   - from: l3_430
-    point: [29.750000000000007, 17.200000000000003, 1.951302703907256]
-  door_corner_pt_1: [29.700000000000003, 16.2]
-  door_corner_pt_2: [30.6, 16.2]
+    point: [35.105, 20.296, 1.95130270391]
+  door_corner_pt_1: [35.046, 19.116]
+  door_corner_pt_2: [36.108, 19.116]
   name: d3_430
 - approach:
   - from: l3_500
-    point: [24.450000000000003, 8.100000000000001, -1.6020361602251632]
+    point: [28.851, 9.558, -1.60203616023]
   - from: l3_414b
-    point: [24.450000000000003, 9.700000000000001, 1.6020361602251632]
-  door_corner_pt_1: [23.6, 8.9]
-  door_corner_pt_2: [25.35, 8.9]
+    point: [28.851, 11.446, 1.60203616023]
+  door_corner_pt_1: [27.248, 10.502]
+  door_corner_pt_2: [29.913, 10.502]
   name: d3_414b1
 - approach:
   - from: l3_516
-    point: [26.050000000000004, 6.300000000000001, -1.8622531212727644]
+    point: [30.739, 7.434, -1.86225312127]
   - from: l3_500
-    point: [26.300000000000004, 8.0, 1.642103791580188]
-  door_corner_pt_1: [25.900000000000006, 7.300000000000001]
-  door_corner_pt_2: [26.800000000000004, 7.300000000000001]
+    point: [31.034, 9.44, 1.64210379158]
+  door_corner_pt_1: [30.562, 8.614]
+  door_corner_pt_2: [31.624, 8.614]
   name: d3_516b
+- approach:
+  - from: l3_510
+    point: [10.266, 7.375, -1.21202565652]
+  - from: l3_500
+    point: [9.971, 9.44, 1.40564764938]
+  door_corner_pt_1: [12.60, 8.90]
+  door_corner_pt_2: [14.60, 8.90]
+  name: bench

utexas_gdc/maps/simulation/3ne/doors_map.yaml

@@ -2,5 +2,5 @@ free_thresh: 0.2
 image: doors_map.pgm
 negate: 0
 occupied_thresh: 0.8
-origin: [-13.15, -2.0, 0.0]
+origin: [-15.515, -2.45, 0.0]
 resolution: 0.05

utexas_gdc/maps/simulation/3ne/doors_map_corpp.yaml

@@ -2,5 +2,5 @@ free_thresh: 0.2
 image: doors_map_corpp.pgm
 negate: 0
 occupied_thresh: 0.8
-origin: [-13.15, -2.0, 0.0]
+origin: [-15.515, -2.45, 0.0]
 resolution: 0.05