maps

things about map

the map update topic :

vincent@laptop:~$ ros2 topic info /map_updates  -v
Type: map_msgs/msg/OccupancyGridUpdate

Publisher count: 0

Subscription count: 1

Node name: rviz
Node namespace: /
Topic type: map_msgs/msg/OccupancyGridUpdate
Endpoint type: SUBSCRIPTION
GID: 01.0f.ff.a0.5c.4f.24.3e.01.00.00.00.00.00.2e.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

map from slam :

vincent@laptop:~$ ros2 topic echo /map -l 10
header:
  stamp:
    sec: 1715325292
    nanosec: 719882314
  frame_id: map
info:
  map_load_time:
    sec: 0
    nanosec: 0
  resolution: 0.02500000037252903
  width: 549
  height: 284
  origin:
    position:
      x: -11.845217701251595
      y: -1.804279200089378
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
data:
- -1
- -1
- -1
- -1
- -1
- -1
- -1
- -1
- -1
- -1
- '...'

map from map_server :

vincent@laptop:~$ ros2 topic echo /map/map -l 10
header:
  stamp:
    sec: 1715325370
    nanosec: 431951521
  frame_id: map
info:
  map_load_time:
    sec: 1715325370
    nanosec: 431949638
  resolution: 0.009999999776482582
  width: 350
  height: 250
  origin:
    position:
      x: 0.0
      y: 0.0
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
data:
- 100
- 100
- 100
- 100
- 100
- 100
- 100
- 100
- 100
- 100
- '...'