Warning in Mobile Robotics

I am very new to Matlab. I was following exactly same example from MobileRoboticsSimulationToolbox-Robot Visualizer-Example2 : Maps and Lidar.

And I can't create a map, because this warning and error came up when I run this code below.

viz = Visualizer2D;
viz.showTrajectory = false;
load exampleMap
viz.mapName = 'map';
pose = [3; 4; 0];
viz(pose)

Warning: Variable 'map' originally saved as a robotics.OccupancyGrid
cannot be instantiated as an object and will be read in as a uint32. 
error : internal.createMapFromName (line 39)
Map name 'map' must be a robotics.OccupancyGrid or robotics.BinaryOccupancyGrid object.

error : Visualizer2D/setupImpl (line 75)
            obj.map = internal.createMapFromName(obj.mapName);

Answer 1

[Walter Roberson]

You attempted to load into a MATLAB session that does not have the class definitions for a robotics occupancy grid. Possibly you do not have the toolbox installed.

[성준 윤]

I deleted Mobile Robotic Simulation Toolbox and redownloaded it in case there was an error with the toolbox but it still shows me same warning.. Would it help if I redownload Matlab and toolbox? Maybe I didn't download one of Matlab programs I need.

[Walter Roberson]

You need Robotics System Toolbox

Answer 2

[Nialle Domzonn]

%% Creating a 2D object visualizer and loading map

viz2 = Visualizer2D;

viz2.showTrajectory = false;

load exampleMap

viz2.mapName = 'map';

%% Setting the robot's initial pose and visualizing it

pose = [3; 4; 0];

viz2(pose);

%% Creating and attaching a Lidar sensor to the robot

lidar = LidarSensor;

lidar.scanAngles = linspace(-pi/3, pi/3, 7);

attachLidarSensor(viz2, lidar);

%% Animating a spinning robot with Lidar readings

for idx = 1:10

pose = pose + [0; 0; pi/8];

ranges = lidar(pose);

viz2(pose, ranges);

pause(0.25);

end

%% Placing 5 waypoints on the map for the robot to follow

waypoints = [2, 2; 8, 4; 4, 6; 6, 8; 2, 10];

for i = 1:size(waypoints, 1)

target_pose = [waypoints(i, 1); waypoints(i, 2); atan2(waypoints(i, 2)-pose(2), waypoints(i, 1)-pose(1))];

while norm(pose(1:2)-target_pose(1:2)) > 0.1

pose = pose + [0.1*cos(pose(3)); 0.1*sin(pose(3)); 0];

ranges = lidar(pose);

viz2(pose, ranges);

pause(0.01);

end

pose(3) = target_pose(3);

end