On Fri, Nov 19, 2010 at 4:34 PM,  <ibrahim.awwal@berkeley.edu> wrote:
> I'm trying to get started with the PR2 and moving the base around, using the
> pr2_2dnav_slam package. I'm running SLAM and I've subscribed to the map
> topic which gives messages of the form OccupancyGrid, but I can't figure out
> what format the data is in, or specifically how it's indexed. How do I index
> the array to get at a specific point? Or is there a better way to get at a
> map of the world around the PR2? Thanks,

hi Ibrahim,

The OccupancyGrid message format is described in the wiki:
  http://www.ros.org/doc/api/nav_msgs/html/msg/OccupancyGrid.html
You'd get the same information by typing 'rosmsg show OccupancyGrid'
at the command line.

	brian.