interfacing maps server with grid map

[mauricefallon]

Output of grid map when running simple demo:

/grid_map_simple_demo/grid_map

• type grid_map_msgs/GridMap
• renderer GridMap
• 30Hz - 333KB/s

/grid_map_visualization/elevation_points

• type sensor_msgs/PointCloud2
• renderer Elevation

/grid_map_visualization/elevation_grid

• type nav_msgs/OccupancyGrid
• renderer Elevation

Basic Demo Output:

• image of 1.2m x 2.01m
• inner_start_index: = 0, outer_start_index: = 0, resolution: = 0.03
• basic_layers: [], layers: ['elevation']
• data is a 2D array of heights as floats i.e. a height map/image
• pose is defines placement

[mauricefallon]

maps-server:

• uses an origin above the robot pointing down
• the x,y origin it gives is in the bottom left corner of the grid
• othographic projection

grid-map

• contains a pose - but only x and y are used. z and orientation are not
  • a frame_id can be used instead to transform the map
• origin is the center of the grid

Next steps:

• publish the map frame (in ROS) with the maps server transform
• set the pose within the GridMap message to zero
• cell resolution needs to be backed out of maps-server