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Hi,

I need to overlap two pose estimation (from the particle filter) with the map asociated to each of them (the map is the same). After that i need to merge both maps.

As a first step I am choose one pose estimation as fixed and I am trying to rotate and translate the otherone to overlap the fixed one (map included). The problem is that I dont know how to rotate and translate de occupancy grid map.

An image with the problem description is attached. Thanks in advance!image description


Originally posted by fandrade on ROS Answers with karma: 81 on 2017-11-06

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I finaly could resolve this problem. The way I did it was

  1. Calculate the offset between fixed pose and the other pose
  2. Create a frame (with tf2 tools) applying the translation and rotation between the poses
  3. Then copy the original map, and set the frame_id with the frame created in 2)

You can see the results in the picture. image description


Originally posted by fandrade with karma: 81 on 2017-11-08

This answer was ACCEPTED on the original site

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