first commit

nav_msgs/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.10)
+project(nav_msgs)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+if (NOT TARGET std_msgs)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../std_msgs ${CMAKE_BINARY_DIR}/std_msgs_build)
+endif()
+if (NOT TARGET geometry_msgs)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
+endif()
+
+# Thư viện header-only
+add_library(nav_msgs INTERFACE)
+
+# Include path tới thư mục chứa file header
+target_include_directories(nav_msgs INTERFACE
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+)
+
+# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
+target_link_libraries(nav_msgs INTERFACE 
+                      std_msgs
+                      geometry_msgs
+                      )

nav_msgs/include/nav_msgs/MapMetaData.h

@@ -0,0 +1,23 @@
+#ifndef MAP_META_DATA_H
+#define MAP_META_DATA_H
+
+#include <cstdint>
+#include <string>
+#include <vector>
+#include "geometry_msgs/Pose.h"
+
+namespace nav_msgs
+{
+
+struct MapMetaData
+{
+double map_load_time;
+float resolution;
+uint32_t width;
+uint32_t height;
+geometry_msgs::Pose origin;
+};
+
+}
+
+#endif //MAP_META_DATA_H

nav_msgs/include/nav_msgs/OccupancyGrid.h

@@ -0,0 +1,24 @@
+#ifndef OCCUPANCY_GRID_H
+#define OCCUPANCY_GRID_H
+
+#include <cstdint>
+#include <string>
+#include <vector>
+#include "std_msgs/Header.h"
+#include <nav_msgs/MapMetaData.h>
+
+namespace nav_msgs
+{
+
+struct OccupancyGrid
+{
+std_msgs::Header header;
+
+MapMetaData info;
+
+std::vector<uint8_t> data;
+};
+
+}
+
+#endif //OCCUPANCY_GRID_H