| # Header | |
| float64 stamp # timestamp | |
| string frame_id # world frame id | |
| # Map info | |
| float32 resolution # The map resolution [m/cell] | |
| uint32 width # Map width along x-axis [cells] | |
| uint32 height # Map height alonge y-axis [cells] | |
| float32[2] origin # Map frame origin xy-position [m], the xyz-axis direction of map frame is aligned with the world frame | |
| # Map data, in x-major order, starting with [0,0], ending with [width, height] | |
| # For a cell whose 2d-array-index is [ix, iy]， | |
| # its position in world frame is: [ix * resolution + origin[0], iy * resolution + origin[1]] | |
| # its cell value is: data[width * iy + ix] | |
| float32[] data |