www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/WorkWith2DMapsAndOccupancyGridsExample.m
%% Create Occupancy Grid from 2-D Map % %% % Load two maps, |simpleMap| and |complexMap|, as logical matrices. Use % |whos| to show the map. filePath = fullfile(fileparts(which('PathPlanningExample')),'data','exampleMaps.mat'); load(filePath) whos *Map* %% % Create a ROS message from |simpleMap| using a |BinaryOccupancyGrid| % object. Write the |OccupancyGrid| message using |writeBinaryOccupancyGrid|. bogMap = robotics.BinaryOccupancyGrid(double(simpleMap)); mapMsg = rosmessage('nav_msgs/OccupancyGrid'); writeBinaryOccupancyGrid(mapMsg,bogMap) mapMsg %% % Use |readBinaryOccupancyGrid| to convert the ROS message to a % |BinaryOccupancyGrid| object. Use the object function |show| to display the map. bogMap2 = readBinaryOccupancyGrid(mapMsg); show(bogMap2);