I have some questions about the 2d map built by the map_server from the Nav_msgs::Occupancy Grid. There are few points unclear.
a)could I assume the origin of the map represent the (0,0) point, the lower-left corner of the 2d map?
b)could I assume that map.info.width contains the information of size of ENTIRE map?
c) could I assume the resolution is in meter/cell?
***Occupancy grid structure*:** # This represents a 2-D grid map, in which each cell represents the probability of # occupancy. Header header #MetaData for the map MapMetaData info # The map data, in row-major order, starting with (0,0). Occupancy # probabilities are in the range [0,100]. Unknown is -1. int8 data -------------------------------- ***MapMetaData structure*** # This hold basic information about the characterists of the OccupancyGrid # The time at which the map was loaded time map_load_time # The map resolution [m/cell] float32 resolution # Map width [cells] uint32 width # Map height [cells] uint32 height # The origin of the map [m, m, rad]. This is the real-world pose of the # cell (0,0) in the map. geometry_msgs/Pose origin
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Comment by أسامة الادريسي on 2017-06-27:
Hi, can i do mapping only with ultrasonic sensor range and IMU ??