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map_saver for different map topics

asked 2019-01-29 02:19:26 -0500

chbloca
94 ●6 ●10 ●16

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 -0500

chbloca
94 ●6 ●10 ●16

I found the solution:

rosrun map_server map_saver map:=/map_2 -f name_of_map

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Thanks, to add full command looks like this (in my case):

rosrun map_server map_saver --occ 100 --free 10 -f my_map map:=/move_base/global_costmap/costmap

Combinacijus ( 2020-03-23 06:31:50 -0500 )edit

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Asked: 2019-01-29 02:19:26 -0500

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Last updated: Jan 29 '19

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map_saver for different map topics