topic costmap

 

name: ' / move_base / global_costmap / costmap ' , 
the messageType: " nav_msgs / OccupancyGrid " , 
this is a global map, fixed 


Topic: ' / move_base / global_costmap / costmap_updates ' , 
of the type: ' map_msgs / OccupancyGridUpdate ' 
This is a refreshing part 


free_thresh : 0.196 
Image: map.png 
o negate: 0 
occupied_thresh: 0.65 
Origin: [ - 8.750273 , - 10.928155 , 0.0 ] 
Resolution: 0.03 


# width * high
792*675


pose1
---
position:
  x: -1.25643080513
  y: -4.29171802135
  z: 0.0
orientation:
  x: 0.0
  y: 0.0
  z: 0.981610427717
  w: -0.190895175942
---

pose2
---
position:
  x: -1.25643080513
  y: -4.29171802135
  z: 0.0
orientation:
  x: 0.0
  y: 0.0
  z: 0.981610427717
  w: -0.190895175942
---