i did the turtlebot gmapping tutorial,got a map(width=768,height=512,resolution=0.05). does it mean that the actual size of the environment is (768 multiply by 0.05,512 multiply by0.05) ,the grid map of X from [0,767],Y from [ 0,511] or maybe X-Y axes reverse,the [0,0]cell is the lower left corner of the grid map,am i right?
- when gmapping over with the turtlebot stop ,but the node slam_gmapping not kill, then i want to see the map data,so
rosrun echo /map > map_data.txt,but the data are only three type: 0,100 and -1.But the Image_format said the "occupancy is represented as an integer in the range [0,100]",why?
- from the experiment ,i got the map.info.origin.position=[-12.2,-12.2,0] , map.info.origin.orientation=[0,0,0,1],it suggest that there is no orientation between the grid map frame coordinate and the /map frame coordinate,am i right ?how does the map_server make the grid map 's X-Y axes parallel to the /map frame's X-Y? if i do experiment in a rectangular totally free room ,i let the initial pose of turtlebot located in the diagonal of the environment ，facing to another diagonal corner,the /map frame's axes-X isn't parallel to the future build grid map frame's axes-X, the /map frame's axes-Y is also not parallel to map frame's axes-Y,can i understand like this ?
Thanks for your time and attention.sorry,my english is poor ,i hope i will not confuse you .your any ideas will be appreciated,thank you very much !!
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