SubmapTexture.msg

Overview

SubmapTexture.msg carries the occupancy grid texture of a submap slice, along with its dimensions, resolution, and pose.

Fields

Field	Type	Description
cells	uint8[]	The raw occupancy data, stored row-major with one byte per cell.
width	int32	The width of the texture in cells.
height	int32	The height of the texture in cells.
resolution	float64	The resolution of the texture in meters per cell.
slice_pose	geometry_msgs/Pose	The pose of the submap slice in the map frame.

Usage

• The texture is returned by SubmapQuery.srv inside its textures array.

• To render the texture, interpret each byte in cells as a grid cell occupancy value (higher values indicate more occupied).

• slice_pose allows the consumer to position the texture correctly relative to the map frame.