Structures shall be classified into one or more of the occupancy groups listed in this section based on the nature of the hazards and risks to building occupants generally associated with the intended purpose of the building or structure. Occupancy classification is the formal designation of the primary purpose of the building, structure or portion thereof. The state agency does not adopt sections identified with the following symbol: † The Office of the State Fire Marshal's adoption of this chapter or individual sections is applicable to structures regulated by other state agencies pursuant to Section 1.11. See Chapter 1 for state agency authority and building applications.) Adopting agencyĪdopt entire chapter as amended (amended sections listed below)Īdopt only those sections that are listed below I hope my answer makes sense.CALIFORNIA BUILDING CODE - MATRIX ADOPTION TABLE CHAPTER 3 - OCCUPANCY CLASSIFICATION AND USE (Matrix Adoption Tables are nonregulatory, intended only as an aid to the code user.
It has been a long time since I last worked on this. Here's the link to the project I was using this on. Your drive by wire system will probably take care of the rest. Once you have successfully localized on this map, you can send move_base goals and the planner with plan the path. Usually there's the global costmap (based on this static map you have saved and provided), and there's the local costmap (which contains new obstacles and dynamic obstacles). (as long as the topic names are correct, and you have the correct configuration). Also, maybe the tutorial on mapping might help you? ( ).Īssuming you have done mapping and the image above is the static map, for autonomous navigation, I believe you need to use map_server to load the maps, and move_base will generate the costmaps based on this static map provided by the map server. Please see ROS's official tutorial and launch file example for how to use move_base. As a developer, using move_base properly will simplify your workflow, you don't have to worry about the details of costmaps or spend time implementing A* search. It calls on planners, costmaps, and other components. On a high level, move_base is the heart of the generic ROS navigation stack. I used the move_base node that comes with ROS. Hey for my application, I needed to generate costmaps for the navigation stack, using stereo cameras and lidars.
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