Do amcl and costmap_2d account for a rotated map origin?

asked 2016-11-16 21:02:21 -0500

spmaniato gravatar image

According to the map_server wiki page,

origin : The 2-D pose of the lower-left pixel in the map, as (x, y, yaw), with yaw as counterclockwise rotation (yaw=0 means no rotation). Many parts of the system currently ignore yaw.

Does that mean that packages such as amcl and costmap_2d may/will not work properly if yaw (the third element of the origin field) is non-zero? Looking at AMCL's convertMap method (amcl_node.cpp#L901-L925) seems to confirm that for AMCL (since it's ignoring

I might be misunderstanding this altogether, so I'd appreciate someone shedding some light on this. Thanks!

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