Greetings fellow developers,

I am currently using ROS Fuerte in Ubuntu 12.04. I used the mapserver package to read a map. Now I need a service that returns an occupancy value for a given position. Currently, there is only one service in mapserver which returns the whole map and I have to probably convert the one dimensional pixel data in to two dimensional positions.
I was told that already a service that does this exists, is anyone aware of such service?

Thank you in advance!