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map_saver

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][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

Output List

There are 0 parameters.

Port NameMessage 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.

More Info