World elements

<element class=”occupancy_grid”> depicts MRPT occupancy map which can be specified with both image file (black and while) and MRPT grid maps. <file> specifies file path to image of the map.

<element class=”ground_grid”> is the metric grid for visual reference.

<element class=”elevation_map”> is an elevation map (!experimental). Mesh-based map is build of elevation map in simple bitmap where whiter means higher and darker - lower.

This tag has several subtags:

• <elevation_image> - path the elevation bitmap itself

• <elevation_image_min_z> - minimum height in world units

• <elevation_image_max_z> - maximum height in world units

• <texture_image> - path texture image for elevation bitmap. Mus not be used with mesh_color simultaneously

• <mesh_color> - mesh color in HEX RGB format

• <resolution> - mesh XY scale