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<title>Karto FAQ - Open questions</title>
<description>Karto FAQ</description>
<link>http://www.kartorobotics.net/faq</link>
	<item>
		<title><![CDATA[Can I use the Karto SDK to build sonar ... (Chandan Datta)]]></title>
		<description><![CDATA[Can I use the Karto SDK to build sonar based maps from the logs of a MobileRobot PeopleBot ?]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_8</link>
		<pubDate>Mon, 11 Aug 2008 12:43:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[I am new to KARTO. After installation, we have ... (Ziquan Zhu)]]></title>
		<description><![CDATA[I am new to KARTO. After installation, we have several examples to use, e.g. 'intel'.
But the problem is after i load those maps, i cannot use mouse dragging to move the map. Moreover, all the test functions like mapping or exploring remain grey in the menu bar. I cannot click them to have a try.

What is wrong with that?
Thank you]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_9</link>
		<pubDate>Tue, 30 Sep 2008 15:00:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Can the software run on an embedded processor (non-PC ... (Matthew Linder)]]></title>
		<description><![CDATA[Can the software run on an embedded processor (non-PC based)?]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_10</link>
		<pubDate>Tue, 30 Sep 2008 17:03:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Hi, I have downloaded Karto trial to use with ... (Nerea)]]></title>
		<description><![CDATA[Hi, I have downloaded Karto trial to use with MRS. And I have some problems running just the tutorials. The error say something like it can't find the assemblies "simulateddifferentialdrive" and "interpolator". If you can help me please.. I don't know if i don't have some reference somewhere or... Thank you!]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_12</link>
		<pubDate>Mon, 19 Jan 2009 07:58:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Dear Karto How accurate is the localization( deviation to ... (Michael M.)]]></title>
		<description><![CDATA[Dear Karto

How accurate is the localization( deviation to the true position ) after travelling around 100m in a building ?

Thanks a lot
]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_14</link>
		<pubDate>Fri, 12 Jun 2009 14:10:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Dear support, Is karto able to recognize and update ... (Michael M.)]]></title>
		<description><![CDATA[Dear support,

Is karto able to recognize and update dynamic changes in the map. for example:in a room, a door was openend after one hour. 
Some SLAM algorithm visualize both states. The door will be shown closed and opened. 

Is it able to visualize fast moving objects like humans?


thanks a lot]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_15</link>
		<pubDate>Fri, 19 Jun 2009 10:51:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[I have a robot with a terrible odometer and ... (Alec)]]></title>
		<description><![CDATA[I have a robot with a terrible odometer and I am trying to make a map of a hallway using Karto. After adding each scan I compare the odomoetry my robot thinks and what Karto thinks, and it is always the same (I am comparing the two poses I passed into my LocalizedRangeScan after AddScaning them to the Mapper). Why is this happening, shouldn't Karto be correcting for bad position information?]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_16</link>
		<pubDate>Wed, 15 Jul 2009 16:52:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Karto seems to do very well in nicely structured ... (Leland Thorpe)]]></title>
		<description><![CDATA[Karto seems to do very well in nicely structured environments, such as office hallways. However, its default behavior in less structured settings, such as a parking lot or a large lab, yields maps which are much worse than we get from our raw odometry.

What parameters would you suggest tuning in order to realized better results in such environments?]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_17</link>
		<pubDate>Mon, 27 Jul 2009 20:13:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[1) I have a map of an empty static ... (Alec)]]></title>
		<description><![CDATA[1) I have a map of an empty static world. My robot is going to be operating in this room when there are people in it. What is the best way to use karto to path plan / move around people? Should I use the Localization or Mapper module

2) I have a known map of a world and I am trying to load the map into the Localization Module (using ReadOccupancyGrid("mapname") and then SetOccupancyGrid). When I call SetOccupancyGrid, I get the error "Unable to calculate probability grid". What should I do?

Thanks]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_18</link>
		<pubDate>Tue, 28 Jul 2009 18:46:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Can Karto's scan-matching algorithm update its parameters dynamically? Say, ... (Leland Thorpe)]]></title>
		<description><![CDATA[Can Karto's scan-matching algorithm update its parameters dynamically? Say, for instance, our robot is navigating narrow corridors and then enters into a large open space, such as a lobby. In this case, it might make sense to dynamically increase the RangeThreshold to maintain performance of the scan-matching algorithm. Is this possible? Is it recommended - or heavily advised against?

Thanks!]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_19</link>
		<pubDate>Fri, 31 Jul 2009 18:47:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[How long does the fully functional trial last? (Nate)]]></title>
		<description><![CDATA[How long does the fully functional trial last?]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_20</link>
		<pubDate>Thu, 20 Aug 2009 02:37:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[I understand that Karto runs with C#. Does it ... (Nate)]]></title>
		<description><![CDATA[I understand that Karto runs with C#. Does it run with C++ too?

Thanks!]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_21</link>
		<pubDate>Thu, 20 Aug 2009 02:56:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Hi there, I'm curious about how the technical support ... (Bill)]]></title>
		<description><![CDATA[Hi there, I'm curious about how the technical support hours are measured. Say, if I buy 10 hours of support. How do you clock the time it takes to answer my email query, should I have one?]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_22</link>
		<pubDate>Wed, 16 Sep 2009 02:27:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[I've been using the localization module with my own ... (Nate)]]></title>
		<description><![CDATA[I've been using the localization module with my own png map and log file. The log file was generated using data from Cogmation's robotSim. There are no problems reading the data but I get an error once localization starts--assertion failed in ktlocalizer\probabilitygridmodel. I feel that the problem could lie in my pose input. Does the z axis increase as you go down or up the map? ]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_23</link>
		<pubDate>Wed, 14 Oct 2009 04:39:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Where can I find some sample codes for MRDS ... (Alexandr Buyval)]]></title>
		<description><![CDATA[Where can I find some sample codes for MRDS in KARTO SDK 1.1?]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_24</link>
		<pubDate>Tue, 02 Feb 2010 18:18:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Do you plan to support MRDS in the future ... (Alexandr Buyval)]]></title>
		<description><![CDATA[Do you plan to support MRDS in the future versions Karto SDK?]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_25</link>
		<pubDate>Wed, 03 Feb 2010 18:35:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Dear Karto, I have a mobile robot with a ... (Nikhil Somani)]]></title>
		<description><![CDATA[Dear Karto,

I have a mobile robot with a SICK S300 professional laser scanner. I am currently evaluating Karto for mapping with this robot.

The accuracy that I am able to get with the global MCL localizer is about 20cm in the best case. Also, it is able to localize correctly only if the robot is placed somewhere in the path which it followed while making the map. It does not recover from the wrong hypothesis.

I read that your implementation is based on the MCL localizer described in the book by Sebastian Thrun. It was mentioned that they introduce random particles to tackle the problem of converging to a wrong point. Is this available in Karto? If so, how do I use this feature.

It would be very helpful if you can suggest some measures to tackle this problem.

regards,
Nikhil Somani]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_29</link>
		<pubDate>Thu, 24 Jun 2010 10:08:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[I'm shkoced that I found this info so easily. ... (Jayden)]]></title>
		<description><![CDATA[I'm shkoced that I found this info so easily.]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_33</link>
		<pubDate>Tue, 06 Dec 2011 22:04:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Nlq7QP yghmkckgjnay (vntfdkqxur)]]></title>
		<description><![CDATA[Nlq7QP  yghmkckgjnay]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_34</link>
		<pubDate>Wed, 07 Dec 2011 11:57:00 GMT</pubDate>
	</item>
	<item>
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		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_35</link>
		<pubDate>Wed, 07 Dec 2011 21:59:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[KPD5b6 , [url=http://zwkgfbxznlxe.com/]zwkgfbxznlxe[/url], [link=http://vtgqmhukvqjk.com/]vtgqmhukvqjk[/link], http://eqgrkynmydsx.com/ (vqigiafa)]]></title>
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		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_36</link>
		<pubDate>Sun, 11 Dec 2011 21:32:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[Hello, my name is Enrico, I am developing a ... (Enrico)]]></title>
		<description><![CDATA[Hello,
my name is Enrico, I am developing a multi mapping navigation system based on OpenKarto in ROS. I have added some features to slam_Karto node like the reset using your reset function. Actually I have a problem of segmentation fault after a reset when the loop closure optimization start. I run the node with gtb and I have this error report:

 [ INFO] [1328096878.736512811, 1134.613000000]: Calling doSPA for loop closure
[ INFO] [1328096878.762852705, 1134.640000000]: Finished doSPA for loop closure

Program received signal SIGSEGV, Segmentation fault.
0xb77bed45 in std::string::compare(char const*) const () from /usr/lib/libstdc++.so.6
(gdb) where
#0  0xb77bed45 in std::string::compare(char const*) const () from /usr/lib/libstdc++.so.6
#1  0x08076345 in operator== (this=0x8b51a988) at /usr/include/c++/4.4/bits/basic_string.h:2270
#2  karto::Name::ToString (this=0x8b51a988) at /home/luca/branches_svn/navigation_dev/stacks/karto/karto/include/karto/Karto.h:401
#3  0x08082221 in karto::Name::operator< (this=0x83048ac, __x=..., __y=...) at /home/luca/branches_svn/navigation_dev/stacks/karto/karto/include/karto/Karto.h:453
#4  std::less::operator() (this=0x83048ac, __x=..., __y=...) at /usr/include/c++/4.4/bits/stl_function.h:230
#5  0xb782c954 in karto::SensorManager::GetSensorByName(karto::Name const&) () from /home/luca/branches_svn/navigation_dev/stacks/karto/karto/lib/libOpenKarto.so
#6  0xb783fbde in karto::LocalizedRangeScan::SetSensorPose(karto::Pose2 const&) () from /home/luca/branches_svn/navigation_dev/stacks/karto/karto/lib/libOpenKarto.so
#7  0xb783181b in karto::MapperGraph::CorrectPoses() () from /home/luca/branches_svn/navigation_dev/stacks/karto/karto/lib/libOpenKarto.so
#8  0xb7835965 in karto::MapperGraph::TryCloseLoop(karto::LocalizedRangeScan*, karto::Name const&) () from /home/luca/branches_svn/navigation_dev/stacks/karto/karto/lib/libOpenKarto.so
#9  0xb7837e2e in karto::Mapper::Process(karto::LocalizedRangeScan*) () from /home/luca/branches_svn/navigation_dev/stacks/karto/karto/lib/libOpenKarto.so
#10 0x080696ca in SlamKarto::addScan (this=0xbfffe910, laser=0x8304990, scan=..., karto_pose=...) at /home/luca/branches_svn/navigation_dev/stacks/karto/src/slam_karto.cpp:605
#11 0x0806e0ae in SlamKarto::laserCallback (this=0xbfffe910, scan=...) at /home/luca/branches_svn/navigation_dev/stacks/karto/src/slam_karto.cpp:471
#12 0x08078895 in boost::function1::operator() (function_obj_ptr=..., a0=...) at /usr/include/boost/function/function_template.hpp:1013
#13 boost::detail::function::void_function_obj_invoker1::invoke(boost::detail::function::function_buffer&, boost::shared_ptr) (function_obj_ptr=..., a0=...) at /usr/include/boost/function/function_template.hpp:153
#14 0x0807fa0a in boost::function1::operator() (this=0x80d2f80, event=..., nonconst_force_copy=false)
    at /usr/include/boost/function/function_template.hpp:1013
#15 message_filters::CallbackHelper1T::call (this=0x80d2f80, event=..., nonconst_force_copy=false)
    at /opt/ros/diamondback/stacks/ros_comm/utilities/message_filters/include/message_filters/signal1.h:76
#16 0x0808cece in message_filters::Signal1::call (this=0x80d338c, event=...) at /opt/ros/diamondback/stacks/ros_comm/utilities/message_filters/include/message_filters/signal1.h:119
#17 message_filters::SimpleFilter::signalMessage (this=0x80d338c, event=...) at /opt/ros/diamondback/stacks/ros_comm/utilities/message_filters/include/message_filters/simple_filter.h:135
#18 0x0808df24 in tf::MessageFilter::testMessage (this=0x80d3388, evt=...) at /opt/ros/diamondback/stacks/geometry/tf/include/tf/message_filter.h:401
#19 0x0808e8d3 in tf::MessageFilter::testMessages (this=0x80d3388) at /opt/ros/diamondback/stacks/geometry/tf/include/tf/message_filter.h:425
#20 0x0808eb20 in tf::MessageFilter::maxRateTimerCallback (this=0x80d3388) at /opt/ros/diamondback/stacks/geometry/tf/include/tf/message_filter.h:442
#21 0xb7be2355 in ros::TimerManager::TimerQueueCallback::call() () from /opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/lib/libros.so
#22 0xb7bcbeaa in ros::CallbackQueue::callOneCB (this=0x80c18c0, tls=0x80d5028)
    at /tmp/buildd/ros-diamondback-ros-comm-1.4.8/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/callback_queue.cpp:381
#23 0xb7bcc59f in ros::CallbackQueue::callAvailable (this=0x80c18c0, timeout=...)
    at /tmp/buildd/ros-diamondback-ros-comm-1.4.8/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/callback_queue.cpp:333
#24 0xb7bd1180 in ros::SingleThreadedSpinner::spin (this=0xbfffe8cc, queue=0x80c18c0)
    at /tmp/buildd/ros-diamondback-ros-comm-1.4.8/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/spinner.cpp:49
#25 0xb7b57c69 in ros::spin (s=...) at /tmp/buildd/ros-diamondback-ros-comm-1.4.8/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/init.cpp:493
#26 0xb7b57c99 in ros::spin () at /tmp/buildd/ros-diamondback-ros-comm-1.4.8/debian/ros-diamondback-ros-comm/opt/ros/diamondback/stacks/ros_comm/clients/cpp/roscpp/src/libros/init.cpp:488
#27 0x0806cdf0 in main (argc=1, argv=0xbfffeeb4) at /home/luca/branches_svn/navigation_dev/stacks/karto/src/slam_karto.cpp:705

Do you know which could be the cause? Thankyou very much for your help.

Mingo Enrico]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_37</link>
		<pubDate>Wed, 01 Feb 2012 12:25:00 GMT</pubDate>
	</item>
	<item>
		<title><![CDATA[I want to know how to download open source ... (tohru Kuga)]]></title>
		<description><![CDATA[I want to know how to download 
open source version with subversion.
I accessed the linked url

and made my account, 
but I could not find the address for svn checkout.]]></description>
		<link>http://www.kartorobotics.net/faq/index.php?action=open#openq_38</link>
		<pubDate>Sun, 20 May 2012 04:42:00 GMT</pubDate>
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