Improved comments.

occupancy2.py

@@ -28,22 +28,30 @@ def callback(msg, tfBuffer):
     rospy.loginfo('Width: %i Height: %i',msg.info.width,msg.info.height)
     rospy.loginfo('Unmapped: %i Unoccupied: %i Occupied: %i Total: %i', occ_counts[0][0], occ_counts[0][1], occ_counts[0][2], total_bins)
 
+    # find transform to convert map coordinates to base_link coordinates
     # lookup_transform(target_frame, source_frame, time)
     trans = tfBuffer.lookup_transform('base_link', 'map', rospy.Time(0))
     rospy.loginfo(['Trans: ' + str(trans.transform.translation)])
     rospy.loginfo(['Rot: ' + str(trans.transform.rotation)])
+    # convert quaternion to Euler angles
     orientation_list = [trans.transform.rotation.x, trans.transform.rotation.y, trans.transform.rotation.z, trans.transform.rotation.w]
     (roll, pitch, yaw) = euler_from_quaternion(orientation_list)
     rospy.loginfo(['Yaw: R: ' + str(yaw) + ' D: ' + str(np.degrees(yaw))])
 
     # make occdata go from 0 instead of -1, reshape into 2D
     oc2 = occdata + 1
+    # set all values above 1 (i.e. above 0 in the original map data, representing occupied locations)
     oc3 = (oc2>1).choose(oc2,2)
+    # reshape to 2D array using column order
     odata = np.uint8(oc3.reshape(msg.info.width,msg.info.height,order='F'))
+    # create image from 2D array using PIL
     img = Image.fromarray(odata)
+    # rotate by 180 degrees to invert map so that the forward direction is at the top of the image
     rotated = img.rotate(np.degrees(yaw)+180)
+    # show image using grayscale map
     plt.imshow(rotated,cmap='gray')
     plt.draw_all()
+    # pause to make sure the plot gets created
     plt.pause(0.00000000001)