Description
This node converts an occupancy grid into a map (png + yaml) and saves it in the database.
The save action is executed when publishing an Empty message to the trigger port of the node.
Examples
it is used in :
Input List
There are 3 parameters.
| Port Name | Message type | Callback |
|---|---|---|
get_map | OccupancyGrid [nav_msgs-ROS1/Subscriber] | map_saver_get_map.cb |
init | Init [movai_msgs-MovAI/Init] | map_saver_init.cb |
trigger | Empty [std_msgs-ROS1/Subscriber] | map_saver_trigger.cb |
Output List
There are 0 parameters.
| Port Name | Message type |
|---|---|
Parameter List
There are 4 parameters.
| Parameter | Description |
|---|---|
filepath | [string] Path of where to save the map file. If empty, the map will not be saved into any file, only database. GGG Unclear |
map_name | [string] Name of the map to be saved. |
threshold_free | [int] Threshold value to consider a cell free. Unclear |
threshold_occupied | [int] Threshold value to consider a cell occupied. |