可以将矩阵地图的点转换为rviz地图的点,再比较两点之间差异,使地图重合
先用map_server读取地图,然后用rviz打开,之间运行f1tenth_simulator会报错
起点(0.192,0.201)
终点(9.902,5.148)
起点(9.902,5.148)
终点(-13.289,7.058)
起点(-13.289,7.058)
终点(-13.289,0.201)
起点(-13.289,0.201)
#! /usr/bin/env python
import time
from numba import jit
import math
import rospy
import numpy as np
import matplotlib.pyplot as plt
from nav_msgs.msg import OccupancyGrid
from geometry_msgs.msg import PoseWithC