This is sonar data taken during a simulated run around the AIC environment provided with the Saphira simulator using a Pioneer 1 robot. There are 4 files in the Zip file attached. aic2_SimulatedSonarData_NoError_NoLoc.run contains the sonar data. MapViewer_Tutorial 4_Building_Maps_From_Sonar_Data.pdf explains the file format. aic2_SimulatedSonarData_NoError_NoLoc_1cm.map contains the generated map in Carmen map format - http://www.cs.cmu.edu/~carmen, with a resolution of 10mm, meaning each grid cell is 10mm wide and 10mm high. This file can be opened using either Carmen or MapViewer, available at http://mapviewer.skynet.ie RobotRunFileHelper.h is a C++ class that can read and write the sonar data files. More information and sample usages of it can be found in the Tutorial4 zip file at http://mapviewer.skynet.ie The layout of the sonars is detailed in the .run file (this is also covered in the PDF). MapViewer can be used to build maps from this sonar data (at any resolution), and also to simply show the path taken by the robot in the environment. For the test run, odometry error was turned off, meaning localisation was not needed. However, error in the sonar readings is still present.
