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目录
黑色块为障碍物,颜色较深的灰色块为危险区,颜色再浅一点的是可行区域,最浅的是未知区域(最外围的区域);
二、地图数据格式官方数据类型解释如下:
Header header
MapMetaData info
int8[] data
time map_load_time
float32 resolution
uint32 width
uint32 height
geometry_msgs/Pose origin
栅格地图中坐标是一维数组的形式,比如实际地图中某点坐标为(x,y),对应栅格地图中坐标为[x*map.info.width+y]。
三、实例代码ros::Publisher mapPub = nodeHandler.advertise<nav_msgs::OccupancyGrid>("laser_map", 1, true);
//发布地图.
void PublishMap(ros::Publisher &map_pub)
{
nav_msgs::OccupancyGrid rosMap;
rosMap.info.resolution = mapParams.resolution;
rosMap.info.origin.position.x = 0.0;
rosMap.info.origin.position.y = 0.0;
rosMap.info.origin.position.z = 0.0;
rosMap.info.origin.orientation.x = 0.0;
rosMap.info.origin.orientation.y = 0.0;
rosMap.info.origin.orientation.z = 0.0;
rosMap.info.origin.orientation.w = 1.0;
rosMap.info.origin.position.x = mapParams.origin_x;
rosMap.info.origin.position.y = mapParams.origin_y;
rosMap.info.width = mapParams.width;
rosMap.info.height = mapParams.height;
rosMap.data.resize(rosMap.info.width * rosMap.info.height);
//0~100
int cnt0, cnt1, cnt2;
cnt0 = cnt1 = cnt2 = 100;
for (int i = 0; i < mapParams.width * mapParams.height; i++)
{
if (pMap[i] == 50)
{
rosMap.data[i] = -1.0;
}
else
{
rosMap.data[i] = pMap[i];
}
}
rosMap.header.stamp = ros::Time::now();
rosMap.header.frame_id = "map";
map_pub.publish(rosMap);
}