If I have am getting map data from the occupancygrid /map topic,and I calculate the pixel location of every cell in the map, I can get the pose location of every cell in the map from pixel location via map resolution (meter/pixel). My confusion(probably dumb) is whether or not said poses are in the map frame? if so I can get to any given pose with move_base_simple and a posestamped as long as I make sure the frame_id the posestamped uses is "map". Is this correct?

Second question, with the waitfortransform tf function arguments are arranged in "fromframe" and then "toframe" right?