first commit

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