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Hi,
The rtabmap_ros/GetMap service returns map data as a graph, not a point cloud. You can however subscribe to /rtabmap/cloud_map topic (which is a sensor_msgs/PointCloud2) to get the point cloud. With pcl_ros, you can save to PCD format (and convert to PLY):
rosrun pcl_ros pointcloud_to_pcd input:=/rtabmap/cloud_map
pcl_pcd2ply input.pcd output.ply
If you connect after mapping, call the service rtabmap_ros/PublishMap so that rtabmap will regenerate the map's cloud and send it back on the cloud_map topic. Parameters for cloud generation by rtabmap can be found on the ROS wiki with prefix cloud_ (e.g., cloud_voxel_size).
Note that in rtabmapviz you can decrease the resolution of the point clouds (increase voxel size) to save memory when exporting.
cheers
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