On Fri, 19 Nov 2010 16:34:16 -0800, <ibrahim.awwal@berkeley.edu> wrote:

Hi guys,

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,

-Ibrahim Awwal

Oh, I'm using rospy by the way. I could use roscpp if necessary but I would prefer not to. Thanks!

-Ibrahim Awwal