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 |
---|---|---|
| OccupancyGrid [nav_msgs-ROS1/Subscriber][nav_msgs-ROS1/Subscriber] | map_saver_get_map.cb |
| Init [movai_msgs-MovAI/Init][movai_msgs-MovAI/Init] | map_saver_init.cb |
| Empty [std_msgs-ROS1/Subscriber][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 |
---|---|
| [string] Path of where to save the map file. |
| [string] Name of the map to be saved. |
| [int] Threshold value to consider a cell free. Unclear |
| [int] Threshold value to consider a cell occupied. |