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 :

There are 3 parameters.

Port Name	Message type	Callback
`get_map`	OccupancyGrid [nav_msgs-ROS1/Subscriber][nav_msgs-ROS1/Subscriber]	map_saver_get_map.cb
`init`	Init [movai_msgs-MovAI/Init][movai_msgs-MovAI/Init]	map_saver_init.cb
`trigger`	Empty [std_msgs-ROS1/Subscriber][std_msgs-ROS1/Subscriber]	map_saver_trigger.cb

There are 0 parameters.

Port Name	Message type

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.