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