ros android 栅格地图,ROS中的珊格地图——nav_msgs::OccupancyGrid

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一、Rviz中的地图效果如下：

黑色块为障碍物，颜色较深的灰色块为危险区，颜色再浅一点的是可行区域，最浅的是未知区域(最外围的区域)；

二、地图数据格式

# This represents a 2-D grid map, in which each cell represents the probability of

# occupancy.

Header header

#MetaData for the map

MapMetaData info

# The map data, in row-major order, starting with (0,0). Occupancy

# probabilities are in the range [0,100]. Unknown is -1.

int8[] data