Map
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Request Definition::

    uint8 WHITE=0
    uint8 BLACK=1
    
    uint16 DEFAULT_WIDTH=1024
    uint16 DEFAULT_HEIGHT=600
    
    string[] entities_in_view       # All entities that need to be in view
    uint8 background                # Background colour
    bool print_labels               # Print entity labels
    uint16 image_width              # Requested image width
    uint16 image_height             # Requested image height
    
Response Definition::

    sensor_msgs/Image map           # Generated image
    float32 pixels_per_meter_width  # Pixels per meter in width direction
    float32 pixels_per_meter_height # Pixels per meter in height direction
    geometry_msgs/PoseStamped pose  # Pose of the top-left corner of the image in the world