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Serialize map in Ros2

asked 2020-09-28 09:40:25 -0500

pfedom gravatar image


I am navigating with an omnidirectional agv (ros2 foxy) and I want to use Slam localization mode while doing that. In detail I am using slam_toolbox with online_async mode at the moment. Is there a tutorial on how to use the serialization service to serialize the map I created while driving. Or whats the command, so I can use this map to localize on?

I used ros2 run nav2_map_server map_saver_cli -f /path/to/mapto save the map but as far as I understand these map files (.yaml and .pgm) aren't meant to localize on. I have to serialize the map to be able to use it with slam_toolbox again because than i get the files: .posegraph and .data right?

Please correct me if this is not correct.

Thanks in advance, have a great day!

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answered 2020-12-21 00:27:11 -0500

The is correct, you need to use the provided serialization services (or rviz tool if you like) to serialize the data for use later in localization or continuing slam sessions.

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Asked: 2020-09-28 09:40:25 -0500

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Last updated: Dec 21 '20