Initial robot pose with respect to map
Hi,
I am using map_server
to load a map in .pgm
format and visualize in RViz. I also load a simulated turtlebot and can see it in same RViz window. I want to move the robot using my cutom planner node while using information from map_server
node. I can obtain robot's current pose from \odom
topic. My question is what will be the transform between odom
frame and map
frame. My map_server
configuration file (.yaml
) is as following
image: map_obstacle.pgm
resolution: 0.01
origin: [-2.0, -2.0, 0]
occupied_thresh: 0.75
free_thresh: 0.20
Any help is appreciated.