name: '/move_base/global_costmap/costmap',

messageType: "nav_msgs/OccupancyGrid",

这个是全局地图，固定的

topic: '/move_base/global_costmap/costmap_updates',

type: 'map_msgs/OccupancyGridUpdate'

这是刷新的部分

free_thresh: 0.196

image: map.png

negate:

occupied_thresh: 0.65

origin: [-8.750273, -10.928155, 0.0]

resolution: 0.03

#宽*高

*

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

---