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SLAMcore Session Explorer
The SLAMcore Session Explorer provides a visual interface to interact with the session map saved from the SLAM runs. It can be used to view information about the map loaded, view or update a height or occupancy map and export the map.
To use the Session Explorer, you must first create a session containing a height/occupancy map, according to the 2D Occupancy Mapping Tutorial.
To launch the Session Explorer tool, run:
On the top menu bar, select
Open and choose the
file to load.
On the Left Sidebar, choose between the
Height Map and
channels to view the respective maps.
For navigation purposes, the occupancy map might need manual editing to fill in unmapped areas and/or remove or add obstacles. The SLAMcore Session Explorer tool allows you to update the occupancy map in the session file.
Occupancy Map channel selected, you may tweak the occupancy map
extraction method using the
From height map button.
Alternatively, you may edit the pixels manually. First, Select
Export occupancy png. Edit the 8-bit Grayscale PNG in an external image
editing tool (e.g. GIMP - Use the Pencil Tool). Then using the blue
File button in the Session Explorer Tool, import the edited map image to
replace the existing one in the session file.
The Session Explorer tool does not support other image formats, a different image size or resolution, soft edges, or additional colours and values.
Once satisfied with the map, select
Save .session to save
the session map, which can be used in ROS for navigation.