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2011-06-17 10:50:08 -0500 | marked best answer | Where am I in the map? To know where the robot is in the map, you want to transform the origin of the In addition to the map, SLAM systems (gmapping and karto) publish transform data. In particular, they provide the transform from the The tf library will chain those transforms together for you. The details will depend on whether you're writing in C++ or Python; check the tf documentation. As an example, from the command-line, you can do this while the SLAM system is running: Note: frames names are configurable, and your system may use different names from the ones I gave above. But the semantics of them is the same. Given the robot's pose in the In principle, you should also account for the orientation of the origin ( |
2011-06-17 03:18:07 -0500 | commented answer | Where am I in the map? Allright. So all I have to do is transform the base_link into the map frame. Further I just take the pose, devide the coordinate components by the map resolution and there I have the correct indices for the map data array? what if they are negative? shouldn't I somehow account for the map origin? |
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2011-06-15 04:01:00 -0500 | asked a question | Where am I in the map? How do I get the occupancy value from the map at my robots position? The map is increasing dynamically as my robot moves around, right? Hence the (0,0) index of the data array may shift as my map expands. What I want is the occupancy value at the very position of my robot. How can I achieve this? |