ros 加载地图

1.Map files are stored as images, with a variety of common formats being supported (such as PNG, JPG, and PGM)
2.Although color images can be used, they are converted to grayscale images before being interpreted by ROS
3.Associated with each map is a YAML file that holds additional information about the map

 

You can use tf to determine the robot's current location in the world
• To get robot’s location in its own coordinate frame create a TF
listener from the /base_footprint to the /odom frame