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

costmap_2d local into image

asked 2015-02-24 10:34:26 -0600

Marcus gravatar image

Hello everyone,

I was wondering if there is already a function to convert the costmap_2d data into a image (or other kind of matrix, so that it is easier to search through).

I have managed to subscribe to the local costmap_2d and wanted to check particular areas by myself now. Unfortunately the format that I receive the costmap in is not very intuitive (at least for me). I was wondering if there is a simple conversion. If not, where can I find the convention on how the information is stored (columns, rows, height, width)?

here I saw it must be possible, just that I don t know how.

I am running ros hydro

Kind regards, Marcus

edit retag flag offensive close merge delete


You asked in my question to help u- I can give you the code (it basically uses openCV, hope it will help) It is not a fully answer so i post it in comments

BP gravatar image BP  ( 2015-03-01 10:29:31 -0600 )edit

2 Answers

Sort by » oldest newest most voted

answered 2015-03-02 02:46:42 -0600

Procópio gravatar image

you can use the saveMap method from costmap_2D

edit flag offensive delete link more

answered 2015-03-01 19:20:34 -0600

David Lu gravatar image

You can visualize the costmap with rviz by adding a Map element. The description here mentions that its in row-major order. If is X, the first X elements of the data array are the first row, and then the second X elements are the second row, etc.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2015-02-24 10:34:26 -0600

Seen: 701 times

Last updated: Mar 02 '15