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I want to code a complete coverage path planner. So first I got a map, and I want to know how can I divide my map in little square cell and in the middle of each cell put a point. With visualization_msg, the point can just be seen by us, and not by the robot. What I want is that this point can be seen by it. So then I will be able to tell to my robot to get throw all the mark. Thank you
When you run map_server (rosrun map_server map_server config.yaml) the node will publish an OccupancyGrid message.
To visualize the message, open up rviz, and add a visualization of type "Map".
Asked: 2014-07-10 05:39:54 -0600
Seen: 933 times
Last updated: Mar 05 '15
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What is the map that you get? Most representations already use a grid of cells.
My map come from a laser Scan with hokuyo, What i want is to have a grid which the robot can understand as a real and in which it has to go.
What IS your map exactly?
It a a pgm file.
Please help me! I'm really unable to parse the pgm file
Are you using the map_server? If not, do that. If you do, what error do you get?
I don't understand, Why map_server? I already have my map, what I want is to write above this map. I want to code a complete coverage path planner, so the idea is to put lot of point in the map, and then tell the robot to go to all the point. So I need to put the point.
I used map_server in order to build my map and it gives any error. I have again run map_server and it says "Read a 4000 X 4000 map @ 0.050 m/cell"