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how to divide a map into many little cells in ros 2?

asked 2022-04-24 15:28:06 -0500

RikaVinh gravatar image

updated 2022-04-25 06:30:30 -0500

I'm a beginner. I'm using ros 2 - foxy and turtlebot3 burger. I follow the turtlebot3 manual and I get a map (map.yaml and map.pgm) after run slam simualation. I want to implement a complete coverage path planner. So first, i have to divide my map into many little cells (grid map) and visualize this grid map in rviz2. I have read grid_map package document From the grid_map package document, I found the "grid_map_loader" package, but I don't know how to use that package to load my map.

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answered 2022-04-25 07:29:19 -0500

ljaniec gravatar image

This ANYbotics package seems to be useful, but it is a lot for a beginner. Maybe others can help there more.

I suggest you to take a look there to check how the coverage path planner is implemented directly:

gif + a screenshot

image description

You can base some of your classes on this for sure, with modifying it to use the ROS OccupancyGrid.msg etc.

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Asked: 2022-04-24 15:28:06 -0500

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Last updated: Apr 25 '22