what map.info.origin.orientation is for?
I am using gmapping to create maps with lasers. I managed to have successful maps but since obstacles in some indoor spaces (like malls etc..) are transparent (such as glass walls and doors etc...), my project is to enhance the mapping by adding a node using sonars and the laser-created-map (and tf data of course to localise the robot in the map) to generate a more general map with the transparent obstacles in it. (the introduction is to let you know why this question and to have some advices regarding what I want to do..)
So, my question is: Are the /map frame axes (X and Y) parallel to the sides of the "rectangular map"? If not, I guess the information about the /map frame orientation is in "map.info.origin.orientation". No? I read in some previous question :(/question/10268/where-am-i-in-the-map/) that "in practice there's no rotation". Is "map.info.origin.orientation" then useless?
