Map Mapping Markers

1. Course Content

[!IMPORTANT]

• This section is a comprehensive course that demonstrates and explains the use and operation steps of the sand table map. For detailed parameter debugging and source code explanation, refer to the prerequisite course: [05-OpenClaw SLAM Mapping Navigation]

• Mark map mapping for target locations that need to be used in the sand table map.

2. Preparation

2.1 Map Preparation

• First, complete the construction of the sand table map and pose map according to the [Build Sand Table Map] course.

2.2 Start the MicroROS Chassis Agent

• Skip if already started

sh start_agent.sh

2.3 Start the Road Network Container

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roadnet start

2.4 Start Odometry, tf, Robotic Arm Assistant, Camera, Aritag Detection Nodes

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ros2 launch m3pro_bringup car_base.launch.py relocation:=True

2.5 Start the MCP Service

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ros2 launch m3pro_bringup mcp_service.launch.py

2.6 Start Road Network Navigation

• Start inside the roadnet container

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ros2 launch road_net_route roadnet_nav2.launch.py rviz_config_file:=/root/volumes/code_ws/src/road_net_route/rviz/nav2_relocaton.rviz

3. Record Map Mapping

• The layout and area naming of the map site are arbitrary and can be modified according to needs. The following reference area naming cases refer to:

1. Shelf 1
2. Shelf 2
3. Parking lot 1
4. Cargo warehouse
5. Cargo sorting area
6. Shelf 3
7. Shipping area
8. Garbage sorting area
9. Trash bin locations: including kitchen waste, recyclable waste, other waste, hazardous waste

• Move the robot to the location that needs to be recorded, and use the robot_control CLI tool to record the map mapping.

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robot_control call-tool RecordMapLocation --name xxx --symbol x

Important: Before recording a location, always check whether the laser contour matches the environmental edge features. If there is a deviation, use the 2D Estimate tool for manual relocation before recording the position.

Recording example:

• Record the shipping area. Move the robot to the location near the shipping area that needs to be recorded.

• Ensure that the cargo in the area is fully visible in the field of view.

• Use the robot_control CLI tool to record the position of the robot's base_link in the map coordinate system.

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robot_control call-tool RecordMapLocation --name 发货区 --symbol B

• --name specifies the name of the recording point
• --symbol specifies the symbol of the recording point, used by OpenClaw for identification and differentiation.

• The positions of different types of trash bins need to be recorded separately. Place the robot in front of the trash bin to be recorded, then perform the recording.

• Check the map mapping file map_mapping.yaml. The file path is:

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$HOME/M3Pro_ws/src/m3pro_bringup/config/map_mapping.yaml

• Check whether all required locations have been recorded.