nav_msgs/OccupancyGrid Message的定义

nav_msgs/OccupancyGrid Message

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

• std_msgs/Header header
  # Standard metadata for higher-level stamped data types. This is generally used to communicate timestamped data in a particular coordinate frame.

# sequence ID: consecutively increasing ID 
uint32 seq

#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp

#Frame this data is associated with
string frame_id

• nav_msgs/MapMetaData info
  # MetaData for the map
  # 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 (0,0) in the map.
geometry_msgs/Pose origin  

# A representation of pose in free space, composed of position and orientation. 
	geometry_msgs/Point position  	
	# This contains the position of a point in free space
		float64 x
		float64 y
		float64 z
	geometry_msgs/Quaternion orientation  	
	# This represents an orientation in free space in quaternion form.
		float64 x
		float64 y
		float64 z
		float64 w

• int8[] data
  # The map data, in row-major order, starting with (0,0). Occupancy probabilities are in the range [0,100]. Unknown is -1.

参考：http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html