costmap_2d local into image

Question

Hello everyone,

I was wondering if there is already a function to convert the costmap_2d data into a image (or other kind of matrix, so that it is easier to search through).

I have managed to subscribe to the local costmap_2d and wanted to check particular areas by myself now. Unfortunately the format that I receive the costmap in is not very intuitive (at least for me). I was wondering if there is a simple conversion. If not, where can I find the convention on how the information is stored (columns, rows, height, width)?

here I saw it must be possible, just that I don t know how.

I am running ros hydro

Kind regards, Marcus

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Originally posted by Marcus on ROS Answers with karma: 164 on 2015-02-24

Post score: 0

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Original comments

Comment by BP on 2015-03-01:
You asked in my question to help u- I can give you the code (it basically uses openCV, hope it will help) http://pastebin.com/cspN42jv It is not a fully answer so i post it in comments

Answer 1

you can use the saveMap method from costmap_2D

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Originally posted by Procópio with karma: 4402 on 2015-03-02

This answer was ACCEPTED on the original site

Post score: 0