ROS学习笔记之导航实现02_地图保存和读取；map_server 节点加载地图描述文件的资源路径，执行该launch文件，该节点会发布话题:map(nav_msgs/OccupancyGrid)

[Aster]

ROS学习笔记之导航实现02_地图保存和读取

https://blog.csdn.net/weixin_51067502/article/details/121943526

 map_server发布map话题，需要系统进行tf或者自己tf链接坐标系

https://blog.csdn.net/weixin_45912291/article/details/125803475#t1

https://blog.csdn.net/WhiffeYF/article/details/109187804