build grid map from yaml file and pgm image in C++

asked 2017-12-29 03:03:04 -0500

haitm gravatar image

updated 2017-12-29 11:29:56 -0500

jayess gravatar image

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.

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Comments

1

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.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2017-12-29 11:27:29 -0500 )edit