Map origin with respect to which coordinate frame? [closed]
I'm subscribing to the /map topic, which gets nav_msgs/OccupancyGrid messages, which has origin data from MapMetaData.
The value of the map origin is (-1, -12). But I can't figure out that this value is with respect to which frame? I donot have a world frame, and I checked it's not wrt the /odom or /base_footprint.
Basically I detect corners in the map and then want to send the bot to the corner, but to do that, I need to transform the coordinates from the pgm map, and I can't understand where the point lies on the map.
Could you please include links to Q&As you've already found? Just so we can avoid discussing aspects of this you are already aware of?
There are multiple Q&As about this topic (with a very recent one being #q306110 fi and #q322919 seems like it would answer your question), and it would be great if we could avoid adding more (partial) duplicates.
Hi @gvdhoorn, I referred those, but didn't get the required answer. I'd keep in mind to tag these questions in future.
This answer by @ Stefan Kohlbrecher seems to answer your question:
This is the second answer to #q322919.
Oh. Now I get it. Had read the answer previously but it didn't click at the time. Thanks a lot!