ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
For anyone still having this issue, check out http://answers.ros.org/question/205521/robot-coordinates-in-map/.
To paraphrase: In the case where the origin of /map and your grid 0,0 are the same and there is no rotation between the two, you need a pixel to real world units (meters) scale factor. OccupancyGrid has resolution in meters/cell. So pose.x / resolution = cell_x.