That way I'd know the vector joining the pixel and the base_footprint, and can drive to the point if I want to. I'd thought of identifying the pixel, then knowing its location with respect to map, and map's origin with respect to base_footprint. I am not able to understand where does the map set its origin?ĭoes the robot's start, end pose or trajectory during the gmapping affect the map origin?Īlso, if the map isn't at the top left corner, then how can I compute the distance between that pixel and my robot? Now, I need to know where these are in relation to the bot. I'll receive the pixels with corners and wall. I'll be feeding the map.pgm file to do the same. To find the corners and walls, I'm writing my own python script, using OpenCV functions like Harris Corner detection and Contours, and Canny. I've saved the map I generated using gmapping. I've made a very simple rectangular room of about 3.0 x 2.4 meter square. I've been playing around with turtlebot simulation. I'm developing a navigation algorithm, for which I need to find out corners and walls present in the room.
