occupancy_grid.hpp

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namespace nav_msgs::msg {
class OccupancyGrid {
public:
    // This represents a 2-D grid map
    std_msgs::msg::Header header;
 
    // MetaData for the map
    msg::MapMetaData info;
 
    // The map data, in row-major order, starting with (0,0).
    // Cell (1, 0) will be listed second, representing the next cell in the x direction.
    // Cell (0, 1) will be at the index equal to info.width, followed by (1, 1).
    // The values inside are application dependent, but frequently,
    // 0 represents unoccupied, 1 represents definitely occupied, and
    // -1 represents unknown.
    std::vector<int8_t> data;
};
} // namespace nav_msgs::msg