| # Timestamp (in seconds since epoch) | |
| float64 stamp | |
| # Frame ID for the coordinate frame | |
| string frame_id | |
| # Resolution of the voxel map | |
| float64 resolution | |
| # Origin of the voxel map (x, y, z) | |
| float64[3] origin | |
| # Width of the voxel map in each dimension (x, y, z) | |
| int16[3] width | |
| # Source size of the compressed data | |
| uint64 src_size | |
| # Compressed voxel data | |
| uint8[] data | |