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Try to convert OccupancyGrid map to Polymap #21

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bxc237 opened this issue Jun 8, 2021 · 0 comments
Open

Try to convert OccupancyGrid map to Polymap #21

bxc237 opened this issue Jun 8, 2021 · 0 comments

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@bxc237
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bxc237 commented Jun 8, 2021

Hi @sikang, I would like to convert OccupancyGrid map which is widely used in ROS navigation to Polymap (Polyhedron2D or decomp_ros_msgs::PolyhedronArray), but I just can not figure out the geometry relationship between them. Could you give me some advice on how to do it? Thank you!
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