how to get real-time access to grid data from map generated by gmapping?
Hello everyone,
I'm trying to simulate robot exploration in gazebo using gmapping. Now I'm able to generate the map using SLAM and save it using map_server.
I would like to ask how do I get access to the individual grid data? for example I need to detect the frontier grids and calculate its distance to the current position of the robot, how do I achieve this in ROS? I suppose it should be a matrix or something similar, any help or suggestion would be much appreciated!
Thanks in advance!