You won't be able to overlay one on the other using this method. It should be noted that the Image in Rviz is in a separate window from the robot body. Play over 265 million tracks for free on SoundCloud. This is simple to do if you know OpenCv, but you might have to do some research on the OpenCv image data structure. Stream Eminem - Without Me (Kevin D Remix) FREE DOWNLOAD Supported by Dillon Francis by EDM FAMILY Remixes on desktop and mobile. Then, you can just cv_bridge to convert that image to a sensor_msgs/Image. To convert my costmap-like data structure to an OpenCV image, I simply just set each costmap cell as a pixel in an OpenCv IplImage data structure. This is a pretty hacky solution, but I needed to save them as images anyway, so it worked for me. What I did to visualize probabilistic maps, however, was simply to save my data structure as an image file (with OpenCV) and then view it as a sensor_msgs/Image. If you were to fill one of these data structures with your probabilistic map, you would be able to visualize it in Rviz in three colors (INFLATED, OCCUPIED, UNKNOWN). ROS costmaps are typically visualized using nav_msgs/GridCells.
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