Export grid?

I need a robot to search every grid point in the Occupancy Grid Map layer, how do i export the grid in order to make each gridpoint a waypoint? Is there a better way? Is there a built-in function I have yet to find? ;)

I didn’t quite follow. Could you explain a bit more as to what you’re trying to do? You want your robot to visit each pose along a uniform grid over your map? You have an an occupancy grid of say MxN pixels and a OccupancyGridMapLayer with a specific cell_size (P meters/pixel). The layer is then interpreted in continuous space, so your uniform grid points would be the ROI of the world in meters divided by your grid dimensions. Each of these poses could then be added to a Pose2WaypointFollower after being checked for validity.

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