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msg.info.resolution = 0.1f;
msg.info.width = 100;
msg.info.height = 100;
msg.info.origin.position.x = -(msg.info.width * msg.info.resolution) / 2;
msg.info.origin.position.y = -(msg.info.width * msg.info.resolution) / 2;
msg.info.origin.position.z = 0;
msg.info.origin.orientation.x = 0;
msg.info.origin.orientation.y = 0;
msg.info.origin.orientation.z = 0;
msg.info.origin.orientation.w = 1;

for (size_t i = 0; i &lt; msg.info.width * msg.info.height; ++i) {
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}

lhs = 0;
center = 1;
rhs = 2;
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msg.data[(center) % (msg.info.width * msg.info.height)] = -1;
msg.data[(rhs) % (msg.info.width * msg.info.height)] = -1;
msg.data[(++lhs) % (msg.info.width * msg.info.height)] = 0;
msg.data[(++center) % (msg.info.width * msg.info.height)] = 100;
msg.data[(++rhs) % (msg.info.width * msg.info.height)] = 0;

map_pub->publish(msg);
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