How to represent the map (the search space) for rospy. [closed]

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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 !