ROS中有一种地图叫做栅格地图,栅格地图是一种基于网格的地图表示方法,其中地图区域被划分为均匀的网格单元,并为每个网格单元分配特定的属性信息。每个网格单元可以表示不同的地理特征、地物类型、高度、障碍物等信息。栅格地图在自动驾驶、机器人导航、游戏开发、地理信息系统等领域中得到广泛应用。可以通过代码来创建栅格地图:
#!/usr/bin/env python3
#coding = utf-8
import rospy
from nav_msgs.msg import OccupancyGrid
if __name__ == '__main__':
rospy.init_node("map_test_node")
rospy.logwarn("map_test_node start running")
map_publisher = rospy.Publisher("/map", OccupancyGrid, queue_size = 10)
map_rate = rospy.Rate(1)
while not rospy.is_shutdown():
map_message = OccupancyGrid()
# 坐标系ID
map_message.header.frame_id = "map"
# 时间戳
map_message.header.stamp = rospy.Time.now()
# 地图信息
# 地图的原点位置,也就是地图中(0,0)和真实世界原点的xy轴的偏移量
map_message.info.origin.position.x = 0
map_message.info.origin.position.y = 0
# 地图的分辨率(单元格的边长,单位:m)
map_message.info.resolution = 1.0
# 地图的长宽(高) (单位:栅格数)
map_message.info.width = 4
map_message.info.height = 4
# 地图数据
map_message.data = [0] * map_message.info.width * map_message.info.height
map_message.data[0] = 100
map_message.data[1] = 100
map_message.data[2] = 0
map_message.data[3] = -1
# 发布地图
map_publisher.publish(map_message)
map_rate.sleep()