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Save points with map_server

asked 2015-06-29 11:53:40 -0600

Dben gravatar image


I am currently able to run a robot with a joystick on rviz and get x and y points via odometry but I would like to save the all these points on a pgm file using map_saver.

Is there a simple way to do it like adding it on a launchfile to save the image ?


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You mean to save the (x,y) points computed by odometry?

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-06-29 12:14:22 -0600 )edit

Yes, sorry for not being precise. I would like to store (x,y) as "black" and the rest as "white" on the pgm

Dben gravatar image Dben  ( 2015-06-29 13:08:42 -0600 )edit

What do you want to do with this?

mgruhler gravatar image mgruhler  ( 2015-06-30 01:01:46 -0600 )edit

I would like to save the path of my robot by odometry and make it visible on a PGM. Using your answer, I'd have to save points in an occupancy grid and publish it over the /map topic ? If so, how do I work with this grid ? Thanks

Dben gravatar image Dben  ( 2015-07-08 09:01:14 -0600 )edit

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answered 2015-06-30 01:01:10 -0600

mgruhler gravatar image

You need to write a node that subscribes to those points, creates a map and publishes this over the /map topic. Once you are done, you can call

rosrun map_server map_saver

Then, in the next run, you can load this using the map_server.

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Asked: 2015-06-29 11:53:40 -0600

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Last updated: Jun 30 '15