ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question
0

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 https://github.com/ANYbotics/grid_map. 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.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

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.

edit flag offensive delete link more

Question Tools

1 follower

Stats

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

Seen: 288 times

Last updated: Apr 25 '22