How can I get the Data from costmap_2d in a file?

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Hi @brokenglass

When you save the map to disk from the map server by: rosrun map_server map_saver -f <map_name> two files will be generated.

Reference: http://wiki.ros.org/slam_gmapping/Tut...

A .pgm file that is a visual picture of the map and .yaml file that will contain information you are looking for. However you need to know how to interpret this information: Reference: http://wiki.ros.org/map_server

The image describes the occupancy state of each cell of the world in the color of the corresponding pixel. In the standard configuration, whiter pixels are free, blacker pixels are occupied, and pixels in between are unknown. Color images are accepted, but the color values are averaged to a gray value.

You can take a look how map_saver.cpp does it. Some people use OpenCV to read image and interpret the occupancy map.

If you want to do something more advanced, take a look at this package: Grid Map by Anybotics https://github.com/ANYbotics/grid_map

And the information on local planner and global planner parameters are stored as .yaml files.