ROS发布栅格地图nav_msgs/OccupancyGrid数据并在rviz中显示

ROS发布栅格地图nav_msgs/OccupancyGrid数据并在rviz中显示

wiki:DisplayTypes/Map
实验环境Ubuntu20.04 ROS(noetic)
1.新建工程

mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_create_pkg map_demo roscpp rospy nav_msgs
cd ..
catkin_make 

2.编辑主函数
路径：map_demo/src/mappublish.cpp
topic名字为mappublish
frame_id为map

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

int main (int argc, char **argv) 
{
    
    // 初始化ROS节点 节点名字
	ros::init (argc, argv, "mappublish"); 
	
    // 节点句柄
	ros::NodeHandle nh; 

    // 发布消息 话题名字 队列大小
	ros::Publisher pub = nh.advertise<nav_msgs::OccupancyGrid> ("mappublish"