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How to make a nav_msgs/OccupancyGrid manually? [closed]

asked 2019-12-29 16:28:12 -0500

ros-noob
7 ●5 ●6 ●7

Suppose I have a .png extension map in which the blocked paths are in black and free spots are white. Using OpenCV, how can I get an OccupancyGrid without using any external libraries?

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Closed for the following reason the question is answered, right answer was accepted by allenh1
close date 2020-01-02 16:34:52.494674

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answered 2019-12-30 06:13:51 -0500

pkvk
16 ●2

Occupancy Grids are probability maps, each grid shows the probability of an obstacle existing over there. So convert png into an array by reading the image using imread. And change the array values accordingly to match between 0 to 100.

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Okay so, after making the changes to the array I'll just publish it as an OccupancyGrid right?

ros-noob ( 2019-12-30 11:50:00 -0500 )edit

Yes, give it the details it's needs under nav_msgs/OccupancyGrid. Interesting taskphase eh?

pkvk ( 2019-12-30 11:58:32 -0500 )edit

Oh okay. Pretty interesting indeed hahaha

ros-noob ( 2019-12-30 13:34:05 -0500 )edit

I am having the same exact issue. Could you please post the code of the solution if you found it? Thank you very much!

RayROS ( 2019-12-30 18:53:01 -0500 )edit

Check this out. It might solve your issue as well.

ros-noob ( 2020-01-01 09:34:27 -0500 )edit

Thanks! It does :)

RayROS ( 2020-01-02 06:07:56 -0500 )edit

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Asked: 2019-12-29 16:28:12 -0500

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Last updated: Dec 30 '19

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