ros:如何获得地图坐标系中的某一点的像素坐标

首先加载一张地图作为示例

rosrun map_server map_server xxx.yaml 

可以得到如下图的地图信息：

在对应的yaml文件中，存储的信息为：
image: a314.pgm
resolution: 0.050000
origin: [-20.000000, -20.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

我们首先看一下与地图相关的消息：

地图元信息：
nav_msgs/MapMetaData Message

# This hold basic information about the characterists of the OccupancyGrid
# The time at which the map was loaded
time map_load_time
# The map resolution [m/cell]
float32 resolution
# Map width [cells]
uint32 width
# Map height [cells]
uint32 height
# The origin of the map [m, m, rad].  This is the real-world pose of the
# cell (0,