How can use the laser_geometry package to find the coordinates of an object in a given map?
This will start an environment similar to what you have used in the labs, i.e., an husky in an indoor-like environment. The mapserver node provides an accurate map of the walls in the environment. However, the environment features some additional objects that are not in the map, i.e., tables and mailboxes. Write a ROS program that explores the environment and finds all the mailboxes and tables that are inside. "Finding" an object means reporting its approximate location in the map frame (e.g., mailbox at position 4,6). My calculation that identifies tables and mailboxes are correct I just have a problem with calculating the correct postion relative to the husky robot. I want to try to use the laser_geometry package to find the transformation from the base link to the point cloud to the map frame. I just don't know how I can go about that coding wise. I would appreciate all helpfull code to be in C++ and I am working in kinetic. (also if you are wondering how my robot navigates the area it uses amcl_pose to navigate the area to reach points that I send it. It avoids the barriers that are in the map but doesn't know about the tables or the mailboxes placed in the environment.) map image here https://ibb.co/8cRhhm5 .
