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Hi,
I am trying to write simple node of particle filter for Gazebo model of robot with diff drive and sonar sensors. I use map_server node to load map. I need method (or node) to get nearest occupied point from map to defined direction. It means, I would like model of sonar sensor on map. Is there such possibility in ROS?
Best Regards, Alex
You will have to create your own node that subscribes to the map (OccupancyGrid) from the map_server, on topic /map. Once you have that you can find out which cells in the map are occupied.
The hector_map_server package from the hector_slam stack contains a node, that advertises a service to retrieve the distance to the nearest obstacle, given a source frame_id and point to specify the direction. You can use it directly or take it as an example.
Asked: 2013-01-07 20:09:38 -0500
Seen: 336 times
Last updated: Feb 08 '13
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