Re: How to convert between world coordiantes and grid coordinates

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-convert-between-world-coordiantes-and-grid-coordinates-tp8570p8574.html

Hi,

you need the map, its parameters (resolution, origin) and the current position of the robot (through TF /map -> /base_link). With those info, you can know in which cell you are, and you can translate any cell position into a metric position. If you do grid-based A* planning, you don't need the pose-graph, unless I didn't understand exactly what is your planning approach.

See also http://wiki.ros.org/global_planner?distro=noetic

cheers,
Mathieu