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robot_nav_msgs/test/main.cpp

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+// #include "geometry_msgs/BatteryState.h"
+// #include "robot_sensor_msgs/JoyFeedbackArray.h"
+#include "robot_nav_msgs/OccupancyGrid.h"
+#include <iostream>
+
+int main()
+{
+  robot_nav_msgs::OccupancyGrid grid;
+
+  grid.info.resolution = 0.05f;
+  grid.info.width = 2;
+  grid.info.height = 2;
+
+  grid.data.resize(grid.info.width * grid.info.height, -1);
+  grid.data[0] = 0;    // Free cell
+  grid.data[1] = 100;  // Occupied cell
+  grid.data[2] = 10;  // Occupied cell
+  grid.data[3] = 0;    // Free cell
+  std::cout << "Occupancy Grid Data:" << std::endl;
+  for (size_t i = 0; i < grid.info.height; ++i)
+  {
+    for (size_t j = 0; j < grid.info.width; ++j)
+    {
+      std::cout << static_cast<int>(grid.data[i * grid.info.width + j]) << " ";
+    }
+    std::cout << std::endl;
+  }
+
+
+
+  return 0;
+}