Robot Occupancy

Topic Name: /robots/occupancy
Usage:
Robot occupancy grids is published on this topic. They are transmitted as a bloolean grid indicating if a cell is blocked
for the robot or not.

Message definition:

{
  "source_id": String,
  "timestamp": Long,
  "x_dimension": float,
  "x_scale": float,
  "x_offset": float,
  "y_dimension": float,
  "y_scale": float,
  "y_offset": float,
  "grid": [[Boolean]]
}

Key	Description
x_dimension	Dimension of grid on the x-axis in meters.
x_scale	tbd
x_offset	tbd
y_dimension	Dimension of grid on the y-axis in meters.
y_scale	tbd
y_offset	tbd
grid	2d array with boolean values indicating which cell is blocked for the robot. True means that the cell is occupied thus False means the cell is unoccupied.

Example

{
  "source_id": "R_1",
  "timestamp": 1552481472,
  "x_dimension": 3,
  "x_scale": 0.4,
  "x_offset": 0.8,
  "y_dimension": 3,
  "y_scale": 0.4,
  "y_offset": 0.8,
  "grid": [
    [true, true, false],
    [true, false, false],
    [false, false, false]
  ]
}