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map_saver for different map topics

asked 2019-01-29 02:19:26 -0600

chbloca gravatar image

Hey there.

I am trying to figure out how is possible to use

rosrun map_server map_saver -f name_of_map

in order to save maps simultaneously made by different gmapping nodes, that is, how to save maps with another topic name than /map.

For instance, /map_1 and /map_2 are being created and the point is to save both maps in different files.

I was watching map_server code in GitHub and found this test launcher:

 <launch>

  <node name="map_server" pkg="map_server" type="map_server" args="$(find map_server)/test/testmap.yaml"/>

  <test test-name="map_server_test" pkg="map_server" type="rtest"/>

</launch>

But I don't know how to modify it in order to accomplish that. Could you give me a hand?

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answered 2019-01-29 02:45:35 -0600

chbloca gravatar image

I found the solution:

rosrun map_server map_saver map:=/map_2 -f name_of_map
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Asked: 2019-01-29 02:19:26 -0600

Seen: 455 times

Last updated: Jan 29 '19