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 ---