ROS API

map_to_image_node

map_to_image_node is a package that permit to convert a map from type OccupancyGrid to an image.

Subscribed Topics

pose (geometry_msgs/PoseStamped)
  • position of the robot
map (nav_msgs/OccupancyGrid)
  • map generated by a SLAM algorithm

Published Topics

map_image/full_with_position (sensor_msgs/Image)
  • Full map showing the position of the robot
map_image/full (sensor_msgs/Image)
  • Full map without the position of the robot
map_image/tile (sensor_msgs/Image)
  • Map of the local environment

image_to_map_node

image_to_map_node is a package that permit to convert an image representing a map to the type OccupancyGrid.

Subscribed Topics

map_image_raw (sensor_msgs/Image)
  • Map of the environment

Published Topics

/map_from_jpeg (nav_msgs/OccupancyGrid)
  • Map of the environment

Parameters

resolution (double, default: 0.05)
  • The map resolution in meters. This is the length of a grid cell edge.

Wiki: corobot_map_to_jpeg (last edited 2012-11-05 22:15:48 by MorganCormier)