来源丨古月居效果图废话不说，直接上最终效果图～看完图你应该就知道是不是你想要的东东。这是对Gazebo其中一个部分场景的无人机SLAM效果图。黑色块为障碍物，颜色较深的灰色块为危险区，颜色再浅一点的是可行区域，最浅的是未知区域（最外围的区域）；Rviz实时SLAM重建效果图如下：Gazebo场景图如下：OccupancyGrid概述官方数据类型解释如下：nav_msgs/OccupancyGrid MessageFile: nav_msgs/OccupancyGrid.msgRaw Message Definition# This represents a 2-D grid map, in which each cell represents the probability of# occupancy.Header header #MetaData for the mapMapMetaData info# The map data, in row-major order, starting with (0,0). Occupancy# probabilities are in the range [0,100]. Unknown is -1.int8[] data消息定义格式如下：std_msgs/Header headernav_msgs/MapMetaData infoint8[] dataOccupancyGrid使用注意事项1.向Rviz发送的数据中一定要包含frame_idmap.head
………………………………
