topic costmap

 

name: '/move_base/global_costmap/costmap',
messageType: "nav_msgs/OccupancyGrid",
这个是全局地图，固定的


topic: '/move_base/global_costmap/costmap_updates',
type: 'map_msgs/OccupancyGridUpdate'
这是刷新的部分


free_thresh: 0.196
image: map.png
negate: 0
occupied_thresh: 0.65
origin: [-8.750273, -10.928155, 0.0]
resolution: 0.03


#宽*高
792*675


pose1
---
position:
  x: -1.25643080513
  y: -4.29171802135
  z: 0.0
orientation:
  x: 0.0
  y: 0.0
  z: 0.981610427717
  w: -0.190895175942
---

pose2
---
position:
  x: -1.25643080513
  y: -4.29171802135
  z: 0.0
orientation:
  x: 0.0
  y: 0.0
  z: 0.981610427717
  w: -0.190895175942
---