Indoor Dynamic Map

• Our paper is available: Unified Understanding of Environment, Task, and Human for Human-Robot Interaction in Real-World Environments

Environments

• OS: Ubuntu20.04
• ROS noetic
• CUDA: 11.7

Docker support

• Please refer this repository

How to build

mkdir -p <your_ros_ws>/src
cd <your_ros_ws>/src
git clone --recursive https://github.com/tamhome/tam_dynamic_map.git
catkin build

How to use

recognize furniture node

rosrun tam_dynamic_map recog_furniture_node.py

Create world model (.yaml)

• Auto generation by recognize with OMNI3D

rosrun tam_dynamic_map create_world_model.py

• You can create/edit world model manually
• open map in your editor

world:
- id: white_table
  type: table
  pose: {x: 3.75, y: 0.72, z: 0}
  scale: {x: 0.50, y: 0.75, z: 0.74}
# - id: object_id_as_you_like
#   type: chair # load furniture templates in ./io/furniture_templates/<>
#   pose: {x: 3.75, y: 1.72, z: 0}  # you can edit object pose
#   scale: {x: 0.50, y: 0.50, z: 1.00}

Load world model

rosrun tam_dynamic_map load_world_model.py

Use by launch

• If you want to use sample.yaml as a world model, you have to set sample as follows.

<arg name="world_model_name" default="sample"/>

<!-- world model 読み込み -->
<include file="$(find tam_dynamic_map)/launch/load_model.launch">
    <arg name="world_model_name" value="$(arg world_model_name)"/>
</include>