finding the position of a block in a map

I am running slam gmapping in ros kinetic in a map and I have inserted a block in the file .world with its position. I would like to know the coordinates of the block based on the map created by the robot, I have tried to look for a solution online but I have found nothing. any advice?

Asked by FedeAmad on 2019-12-02 08:35:51 UTC

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Answers

Create a gazebo plugin that looks at the position of the block in the world frame and publishes its position on TF or another topic. This assumes your coordinate systems of your gazebo world and your map file are the same, if not, you'll have to rectify that as well.

Asked by stevemacenski on 2019-12-02 12:30:48 UTC