hackerbot

code to support the Hackerbot Industries Hackerbot

What does what here:

• hackerbot_map_utils.py - decodes JSON-based compressed maps into ROS-compatible map files
• map_puller.py - Python script to download a map off the Hackerbot to a file
• maptexts - sample maps in compressed JSON format.
• maps - sample map images

To run, do one of the following:

• Use map_puller.py to download a map from your robot onto the onboard Raspi
• cut-and-paste the terminal output from a Python miniterm session: Send MACHINE,1 followed by GETMAP,1 (or whatever map you want) and save the whole JSON output from the GETMAP,1 command to a text file. The file should have 1 continuous, very long JSON string(See the maptexts directory for examples)

usage: map_puller.py [-h] [-o OUTFILE] [-p PORT] [-m MAP_ID] [-l]

get maps stored on a Hackerbot base

options:
  -h, --help            show this help message and exit
  -o OUTFILE, --outfile OUTFILE
                        filename to save map as,include full path if necessary
  -p PORT, --port PORT  serial port to use(default=/dev/ttyACM0)
  -m MAP_ID, --map_id MAP_ID
                        id of map to retrieve
  -l, --listmaps        List map ids, skip retrieval

• Run hackerbot_map_utils.py -f <textfile>. You should see output showing the resolution of the decompressed map and number of bytes processed from the script along with a new .pgm and .png file. Those are your mapfiles.

This is all still pretty experimental and based on a good bit of apriori assumptions, hand-decoding and general hackery. It works for me with the files included in the maptexts directory. It might even work for you! :) Please let me know about successes and failures.