ROS基础学习（实现一个自定义地图Demo）（八）

实现一个自定义地图

创建功能包

cd catkin_ws/src
catkin_create_pkg map_pkg rospy roscpp nav_msgs

创建节点

map_pub_node.cpp

#include <ros/ros.h>
#include <nav_msgs/OccupancyGrid.h>

int main(int argc, char *argv[])
{
    ros::init(argc,argv,"map_sub_node");
    ros::NodeHandle n;
    ros::Publisher pub = n.advertise<nav_msgs::OccupancyGrid>("/map",10);
    ros::Rate loop(10);
    while(ros::ok()){
        nav_msgs::OccupancyGrid msg;
        msg.header.frame_id = "map";
        msg.header.stamp = ros::Time::now();
        msg.info.origin.position.x = 0 ;
        msg.info.origin.position.y = 0 ;
        msg.info.resolution = 1.0;
        msg.info.width = 4;
        msg.info.height = 2;
        msg.data.resize(msg.info.width*msg.info.height);
        msg.data[0] = 100;
        msg.data[1] = 100;
        msg.data[2] = 0;
        msg.data[3] = -1;

        pub.publish(msg);
        loop.sleep();
        

    }
    return 0;
}

创建编译规则

add_executable(map_pub_node src/map_pub_node.cpp)
add_dependencies(map_pub_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(map_pub_node
  ${catkin_LIBRARIES}
)

运行节点在rviz中显示地图

rosrun map_pkg map_pub_node
rviz

添加坐标和map，订阅/map
红色箭头是x轴
绿色箭头是y轴
蓝色箭头是轴

改变：
msg.info.origin.position.x = 1.0 ;
地图向x轴方向移动了一个格子