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how to divide a map (pgm) in little cell

asked 2014-07-10 05:39:54 -0600

Moda gravatar image

updated 2014-07-16 02:21:18 -0600

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

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What is the map that you get? Most representations already use a grid of cells.

dornhege gravatar image dornhege  ( 2014-07-10 06:04:03 -0600 )edit

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.

Moda gravatar image Moda  ( 2014-07-10 06:09:41 -0600 )edit

What IS your map exactly?

dornhege gravatar image dornhege  ( 2014-07-14 09:37:27 -0600 )edit

It a a pgm file.

Moda gravatar image Moda  ( 2014-07-15 02:13:52 -0600 )edit

Please help me! I'm really unable to parse the pgm file

Moda gravatar image Moda  ( 2014-07-15 05:43:36 -0600 )edit

Are you using the map_server? If not, do that. If you do, what error do you get?

dornhege gravatar image dornhege  ( 2014-07-15 05:49:21 -0600 )edit

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.

Moda gravatar image Moda  ( 2014-07-15 05:54:10 -0600 )edit

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"

Moda gravatar image Moda  ( 2014-07-15 06:03:47 -0600 )edit

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answered 2015-03-05 17:59:17 -0600

David Lu gravatar image

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".

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Asked: 2014-07-10 05:39:54 -0600

Seen: 866 times

Last updated: Mar 05 '15