![]() With gmapping the cells have three values : ![]() The data from the topic map is an array containing the value of each cells of your map. The idea is to use the data from gmapping to create a new map. To create your new map I would use two occupancy grid : one occupancy grid will be your objects free map, I'll call it cleared_map,and the other one would be used to create the previous one, I'll call it history_map. With that in mind, you will have to find the edges of an object given its position.įirst, you will need to get the occupancy grid from gmapping. That means that you would know in the occupancy grid the area where you need to change the cells data, but not the exact pose of each cells. From my understanding of the pakage find_object (and correct me if I'm wrong, it's a key point), you will be able to get the position of some objects, it will be only one poisition but not the edges of this object. What you want to achieve could be tricky.
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