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extracting costmap_2d from rtabmap
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Jimmy Notron
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Aug 10, 2016; 12:50pm
extracting costmap_2d from rtabmap
hi every one
i want to make costmap_2d with rtabmap
but i dont have any idea
do you have any idea?
way to go! ;)
Jimmy Notron
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Aug 10, 2016; 2:22pm
Re: extracting costmap_2d from rtabmap
actually i find out that i can use /rtabmap/proj_map
but i wanna develop code for reading this topic and i need to know that what is the format of this topic ?
way to go! ;)
matlabbe
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Aug 10, 2016; 2:58pm
Re: extracting costmap_2d from rtabmap
Administrator
It is an OccupancyGrid message:
http://docs.ros.org/jade/api/nav_msgs/html/msg/OccupancyGrid.html
Note that it is not actually a costmap, it is the /map message in the figure in move_base's page:
http://wiki.ros.org/move_base
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