extracting costmap_2d from rtabmap

[Jimmy Notron]

hi every one
i want to make costmap_2d with rtabmap
but i dont have any idea
do you have any idea?

[Jimmy Notron]

actually i find out that i can use /rtabmap/proj_map
but i wanna develop code for reading this topic  and i need to know that what is the format of this topic ?

[matlabbe]

It is an OccupancyGrid message: http://docs.ros.org/jade/api/nav_msgs/html/msg/OccupancyGrid.html

Note that it is not actually a costmap, it is the /map message in the figure in move_base's page: http://wiki.ros.org/move_base