ros中订阅/map话题，获取地图尺寸，获取机器人原点origin，获取地图分辨率resolution （c++,python,waitForMessage,wait_for_message）

ros中订阅/map话题，获取地图尺寸，获取机器人原点position，获取地图分辨率resolution

1. 

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


//订阅地图
void callBack_map(nav_msgs::OccupancyGrid msg){

    cout<<"原点位置 x: "<<to_string(msg.info.origin.position.x)<<endl;
    cout<<"原点位置 y: "<<to_string(msg.info.origin.position.y)<<endl;
    cout<<"原点位置 z: "<<to_string(msg.info.origin.position.z)<<endl;
    cout<<"原点姿态 qx: "<<to_string(msg.info.origin.orientation.x)<<endl;
    cout<<"原点姿态 qy: "<<to_string(msg.info.origin.orientation.y)<<endl;
    cout<<"原点姿态 qz: "<<to_string(msg.info.origin.orientation.z)<<endl;
    cout<<"原点姿态 qw: "<<to_string(msg.info.origin.orientation.w)<<endl;
    cout<<"地图分辨率 f: "<<to_string(msg.info.resolution)<<endl;
    cout<&