Hi!

I want to do some motion planning using Ros/Gazebo, and I have a rather basic question.

Having set the environment in Gazebo, what is the best (and standard) way to represent:

-The 2d map.

-The state space in case of dynamics.

-The state*time space in case of moving obstacles. (Both the continuous and its dicretization)

To do computation using Python (rospy). A list? A class? a numpy array ? or something else?

And thanks !