LineFastSLAM/map3.map at main · PedroTaborda/LineFastSLAM · GitHub

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# <cmd> <args>
# ex:
# landmark <id> <x> <y>

# Left wall
landmark	0	-1	-0.05	0
landmark	1	-1	1.42	0
landmark	2	-1	3.75	0
landmark	3	-1	6.6	0
landmark	4	-1	9.05	0
landmark	5	-1	11.35	0
landmark	6	-1	13.27	0
landmark	8	0.49	13.61	-90
landmark	7	-0.63	13.7	-90


# right wall (landmark 12 is to make wall start lower so the robot sees something at start)
landmark	12	0.46	-2	180
landmark	13	0.46	1.27	180
landmark	14	0.46	3.77	180
landmark	15	0.46	5.8	180
landmark	15	0.46	8.07	180
landmark	16	0.46	9.85	180
landmark	17	0.46	11.62	180
landmark	18	0.61	11.96	90
landmark	19	0.9	12.2	90

#	ex:	0	0	0
#	waypoint	<id>	<x>	<y>

waypoint	0	-0.12	-1.08
waypoint	1	-0.47	-0.05
waypoint	2	0.18	0.8
waypoint	3	-0.22	1.3
waypoint	4	-0.08	2.45
waypoint	5	0.14	3.51
waypoint	6	-0.25	3.99
waypoint	7	-0.27	4.96
waypoint	8	0.05	5.71
waypoint	9	-0.24	6.54
waypoint	10	-0.3	7.3
waypoint	11	0.080	8.05
waypoint	12	-0.13	8.92
waypoint	13	-0.43	9.68
waypoint	14	98	1122
waypoint	15	89	1234
waypoint	16	51	1323
waypoint	17	107	1359
waypoint	18	48	1482
waypoint	19	120	1493
waypoint	20	134	1424