Karto FAQ - Most recent questions

I'm trying to use Karto with a custom robot using Microsoft Robotic Studio and its simulator. Each time I ran it the map is not as nice as yours ?

Mon, 30 Jun 2008 16:21:00 GMT

If you are using MSRS simulation, we recommend that you limit the Karto scan matching by setting the parameter�UseScanMatching�to FALSE. MSRS simulation is too clean and it is causing our scan matching to misbehave.�

Of course if you are using a real robot, set it to TRUE again.�

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I have circle showing up in my map at the edge, why is that ?

Mon, 30 Jun 2008 16:02:00 GMT

The circle is the laser max range reading showing up on your map. You are probably using a shorter range laser (or device) that is less

than the 8m set by default in Karto.

If you have a hokuyo (as wild guess), try to set the RangeThreshold in karto to 3.5m.

Here the sample code:

pMapper->SetParameter(std::string("RangeThreshold"), std::string("3.5"));

I got this error: Unable to find valid license for Karto SDK. Mapper license : feature not found

Wed, 18 Jun 2008 14:57:00 GMT

You are missing the license file from Karto or if you are using a license server, you forgot to change the environment variable SRI_LICENSE_PATH.�

Where can I find some sample codes and examples ?

Tue, 17 Jun 2008 21:52:00 GMT

If�you�have�the�Linux�or�Mac�OS�X�version:

All�examples�code�are�in�the�samplecode�directory.�Each�sub-directory�has�a�sample�program�for�

each�module.�To�compile�then,�use make�and�then make�run�to�execute�then.�

For�the�Windows�XP/Vista�version:

Sample source code is included in C:\Program Files\SRI International\Karto SDK 1.0 RC1\SDK\Examples.

Example Applications

There are three example applications:

KartoReader � A simple command line program that reads in an XML sensor log file and writes a PNG file containing a map.

Karto � An sample GUI application that demonstrates basic mapping, exploration, path planning and localization functionality.

Karto Navigator � A sample GUI application that works with Microsoft Robotics Studio to demonstrate the use of the Karto SDK with MSRS.

KartoReader

For command line options for KartoReader, simply run the program with no arguments. �Running the KartoReader application from the Windows Start menu will simple run the program on a default sensor log and write a PNG to the /Data/ directory.

Karto

To run the Karto GUI application, select it from the Windows Start menu. �Select File > Open to open an XML or OCG file. �(Or select one of the shortcut options from the File menu.) �The Test menu provides options to test the Mapping, Exploration, Path Planning and Localization functions using the loaded data.

Note that an OCG file only contains a completed map, not a log of sensor data and so only the Exploration and Path Planner tests are applicable.'

All four tests are available for XML data logs. � However, for testing exploration and path planning, you must first run the mapping test to provide at least a partial map. For the localization test, best results are obtained if you provide a complete map.

Note that the shortcuts in the file menu will load both an XML file and an OCG file. �(The sample data can be found in the /Data/ directory.) �When both XML and OCG files are loaded, all tests are applicable.

The View menu provides options for what visualizations are displayed in the application.

The Properties pane allows the user to edit some of the parameters for the Karto modules.

Mapping�� The mapping test will show the construction of an occupancy grid map from the range finder and odometry data in the log file.

Exploration�� The exploration test will calculate "frontier" points and exploration goal points on the map.

Path Planner � The path planner test allows the user to define start and end points (labeled A and B) for which to compute the path. Simply drag the A and B points to open areas on the map, and the application will calculate and display a path in real time. It also provides a movable obstacle (the black square) to test obstacle avoidance in the path planner. �Simple drag the obstacle to move it around to test.

Localization�� The localization test calculates a corrected pose for the robot for each scan in the log file, using a completed map (either from an OCG file, or from running the mapping test) as a reference for scan matching.

The Karto Reader is our **debug** tool and we have included because many (including Damien) liked it but we don't have any docs for it, except the videos on our

webpage and on you tube:�http://www.youtube.com/user/SRIkarto

Karto Navigator

To run the Karto Navigator application, select it from the Windows Start menu. �This will open three windows, the MSRS simulation window, the Karto Viewer window and a console window.

To run the auto explore and map demo, first select Task > Mapper > Connect. �Then right-click in the main Karto Viewer pane and select Exploration > Auto Explorer. �This will have the robot automatically map and explore the simulated MSRS environment.

You can test obstacle avoidance by selecting Shape > Obstacle and then dragging the black square around the map. �If the obstacle intersects the robot's path, the path planner will replace a route to the current goal.�

I got a JIT error when running Karto for the first time on Vista or XP ?

Tue, 17 Jun 2008 16:21:00 GMT

You forgot to install IPP runtime and Karto can't run without it. You can get�IPP�(make sure you download the runtime from�http://www.kartorobotics.net/download/IPP_5.3.2.073_Runtime.zip

�

If your error is something like this:�

just-in-time (JIT) debugging instead of this dialog box.

************** Exception Text **************
System.IO.FileNotFoundException: The specified module could not be found. (Exception from HRESULT: 0x8007007E)
�� at Karto.KartoForm.OnKartoFormShown(Object sender, EventArgs e)
�� at System.Windows.Forms.Form.OnShown(EventArgs e)
�� at System.Windows.Forms.Form.CallShownEvent()
�� at System.Windows.Forms.Control.InvokeMarshaledCallbackDo(ThreadMethodEntry tme)
�� at System.Windows.Forms.Control.InvokeMarshaledCallbackHelper(Object obj)
�� at System.Threading.ExecutionContext.runTryCode(Object userData)
�� at System.Runtime.CompilerServices.RuntimeHelpers.ExecuteCodeWithGuaranteedCleanup(TryCode code, CleanupCode backoutCode, Object userData)
�� at System.Threading.ExecutionContext.RunInternal(ExecutionContext executionContext, ContextCallback callback, Object state)
�� at System.Threading.ExecutionContext.Run(ExecutionContext executionContext, ContextCallback callback, Object state)
�� at System.Windows.Forms.Control.InvokeMarshaledCallback(ThreadMethodEntry tme)
�� at System.Windows.Forms.Control.InvokeMarshaledCallbacks()

************** Loaded Assemblies **************