Hi all
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
Originally posted by Gazer on ROS Answers with karma: 146 on 2013-08-17
Post score: 1
Original comments
Comment by أسامة الادريسي on 2017-06-27:
Hi, can i do mapping only with ultrasonic sensor range and IMU ??