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gmapping-get-empty-map-coordinates

asked 2013-06-19 23:22:00 -0500

acp gravatar image

Dear all,

I wonder whether is possible to get the coordinates of empty space of the global map. The thing is that, I would like to move the robot to a random goal that is within the empty space of the map, so the navigation stack can plan the path and use actionlib to move the robot.

In advance thank you :)

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Please separate your tags using space, not minus. Thanks ;)

ZdenekM gravatar imageZdenekM ( 2013-06-20 00:20:41 -0500 )edit

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answered 2013-06-20 00:19:18 -0500

ZdenekM gravatar image

You can subscribe to a map topic from your node and find randomly indices of some free space. Then you can convert these indices to Cartesian coordinates (using map metadata).

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hi, nice to hear that, Thanx :)

acp gravatar imageacp ( 2013-06-20 00:41:40 -0500 )edit

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Asked: 2013-06-19 23:22:00 -0500

Seen: 127 times

Last updated: Jun 20 '13