Map

Adds a visualization represented by a nav_msgs/OccupancyGrid topic to the scene. The occupancy grid is treated the way the navigation stack treats it.

Overview

A value of 100 is black (occupied), a value of 0 is white (unoccupied), a value of -1 is Unknown(grey) and anything else is taken as is.

Options

Name	Description	Valid values	Default
Topic	The nav_msgs/OccupancyGrid topic to subscribe to.	Any valid Graph Resource Name	Empty String
Alpha	The amount of transparency to apply to the map	[0-1]	1
Color Scheme	Different color scheme to parse the map data.	map, costmap, raw	map
Draw Behind	Draw behind the map plane, visible on both faces.	boolean	false

The options are inspired from RViz and work very similar to it. For the color scheme