栅格地图转代价地图，栅格地图转cv::mat图片,代价地图转换为cv::Mat

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已于 2024-05-13 12:29:08 修改

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分类专栏：新ros专栏文章标签：栅格地图 costmap mat opecncv occupancyGrid

于 2023-04-04 13:55:57 首次发布

本文链接：https://blog.csdn.net/qq_15204179/article/details/129951097

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栅格地图转代价地图，栅格地图转cv::mat图片,代价地图转换为cv::Mat

//订阅一个全局大地图，做障碍和珊格地图的提取
ros::Subscribe costmap_sub_ = private_nh.subscribe<nav_msgs::OccupancyGrid>("move_base/global_costmap/costmap", 1,
                                                             &global_planner::grid_callback, this);
ros::Subscribe costmap_updated_sub_ = private_nh.subscribe<map_msgs::OccupancyGridUpdate>(
                "move_base/global_costmap/costmap_updates", 1,&global_planner::grid_updated_callback, this);

订阅栅格地图：

    //订阅一个全局大地图，做障碍和珊格地图的提取
    void global_planner::grid_callback(nav_msgs::OccupancyGridConstPtr const& msg) {
        grid_ready_ = false;
        grid_ = *msg;
        frame_id_ = msg->header.frame_id;
        std::cout << "1.订阅一个全局大地图，做障碍和珊格地图的提取 frame_id_

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