build grid map from yaml file and pgm image in C++
sorry because my english not good and maybe my question is not exactly.
I built a map of a room with the following commands (use kinect)
$ roscore
$ roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=/home/haitm/catkin_ws/maps/royal_city_1.world
$ roslaunch turtlebot_rviz_launchers view_navigation.launch --screen
$ rosrun gmapping slam_gmapping
...scan scan...
$ rosrun map_server map_saver -f royal_city_1
and the result is a .yaml file and a .pgm image (width: 384 pixels, height: 608 pixels )
how to build grid map from yaml file and pgm image use C++ ???
note: i need grid map to run STC algorithm
thank you for help me.
Can you explain a bit more what you're trying to do. Gmapping and the grid_map plugin use different types of map, gmapping uses a binary occupancy map but grid_map uses an elevation map. These a different things and cannot be simply converted from one to the other.