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Question about OccupancyGrid

asked 2022-05-03 19:39:50 -0500

distro gravatar image

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 "from_frame" and then "to_frame" right?

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answered 2022-05-03 20:28:40 -0500

Assuming that you are correctly converting pixel coordinates to map coordinates, then yes, that is the map frame. Make sure to take into account the origin.

"from_frame" and then "to_frame"

Correct

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@stevemacenski not sure how exaclty to take the origin into account. Maybe I dont get what you mean? mind writing a calculation?

distro gravatar image distro  ( 2022-05-03 21:13:03 -0500 )edit

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Asked: 2022-05-03 19:39:50 -0500

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Last updated: May 03 '22