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Why do you have to install ros-noetic-grid-map-msgs from binaries? I am not sure if I follow here.

Did you try to use YAML with mappings? It surprised me that the headers don't work out of the box straight away though.

Regarding YAML with mappings, I used it some time ago, this issue describes my problems.

You can use examples mentioned for your problem:

https://github.com/ros2/ros1_bridge/issues/370

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