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Okay /map (the occupancy grid) is starting in the middle of the map (2000,2000) of a 4k X 4k grid. That was the piece I was confused about, I should be able to use the resolution of the map and translate meter position into index offset for the occupancy grid. The only trick is I am going to have to translate back from the occupancy grid to the real world when I write my motion planner but I will cross that bridge when I get there.

Thanks for the help, BM