ROS源码阅读(一) navigation costmap_2D

https://blog.csdn.net/lqygame/article/details/71174342?spm=1001.2014.3001.5502

https://blog.csdn.net/lqygame/article/details/71270858?spm=1001.2014.3001.5502

https://www.cnblogs.com/sakabatou/p/8297736.html