起点(1.070,-0.234)
终点(9.905,6.485)
终点(-11.040,8.947)
起点(-11.040,8.94)
终点(-13.458,4.772)
终点(-13.473,-0.116)
#! /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 PoseWithCovarianceStamp