How to save the acquired 2D point cloud in map_server with a color other than black and white

I want to draw a 2D point cloud with acquired position coordinates in a color other than black and white in ros's map_server png file. I am open to any method, but would prefer to use ros in python code if possible.

2D point clouds acquired using occupancyMap were stored in a list and plotted on the image using opencv. However, there is a problem that the point cloud is updated in the list due to the occupancyMap code, and the scale of the map does not match.

Asked by touya on 2022-11-15 06:27:00 UTC

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What I want to do now is to be able to identify objects detected by yolo on the map. Please give me ideas on other ways to do this.

Asked by touya on 2022-11-15 08:03:13 UTC

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Please do not create an Answer that does not actually answer the question being asked. As the author you should edit the description to add any additional information you think of. Other people should use the "add a comment" link under your description.

Asked by Mike Scheutzow on 2022-11-16 07:35:54 UTC