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


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 :)

edit retag flag offensive close merge delete


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

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

1 Answer

Sort by ยป oldest newest most voted

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).

edit flag offensive delete link more


hi, nice to hear that, Thanx :)

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

Question Tools


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

Seen: 287 times

Last updated: Jun 20 '13