ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

The simplest way would be to subscribe to the map topic (assuming that's where the SLAM node is publishing to) This would give you access to the nav_msgs/OccupancyGrid messages corresponding to the latest map. You'll probably also need to subscribe to the map_metadata topic as well, which will contain the nav_msgs/MapMetaData messages.