![]() It is also the currently supported ROS2-SLAM library. That uses the appropriate loader, based on an input parameter.We've received feedback from users and have robots operating in the following environments with SLAM Toolbox: In addition, there is now a new "load_map" service which can be used to dynamically load a map. Command-line arguments, ROS2 Node Parameters, and YAML filesĬode has some changes to accomodate ROS2 as well as some architectural improvements. That uses the appropriate loader, based on an input parameter. Makes this available via topic and service interfaces. ![]() There is currently one suchĭerived class, the OccGridLoader, which converts an input image to an OccupancyGrid and In particular, there is now a MapLoader abstract base classĪnd type-specific map loaders which derive from this class. While the nav2 map server provides the same general function as the nav1 map server, the newĬode has some changes to accomodate ROS2 as well as some architectural improvements. The Map Server provides maps to the rest of the Navigation2 system using both topic and Nav2_map_server/launch/map_saver_ launch-file could be used. In addition to the CLI, Map Saver has a functionality of server See nav2_msgs/srv/LoadMap.srv and nav2_msgs/srv/SaveMap.srv for details.įor using these services map_server/ map_saver should be launched as a continuously running NEW in ROS2 Eloquent, map_server also now provides a "load_map" service and map_saver -Ī "save_map" service. See the nav_msgs/srv/GetMap.srv file for details. saveMapToFile(): Write OccupancyGrid map to fileĪs in ROS navigation, the map_server node provides a "map" service to get the map.loadMapFromYaml(): Load the map YAML, image from map file and generate an OccupancyGrid.loadMapFromFile(): Load the image from map file and generate an OccupancyGrid.loadMapYaml(): Load and parse the given YAML file.MapIO library contains following API functions declared in map_io.hpp to work with Occupancy grid (nav_msgs/msg/OccupancyGrid). ![]() $ ros2 run nav2_map_server map_saver_cli With ROS1, one invoked the map server and passing the map YAML filename, like this: The command line for the map server executable is slightly different that it was with ROS1. Instances one of these nodes, but it is possible to compose multiple map server nodes into By default, there is a map_server executable that The Map Server is a composable ROS2 node. Method or any other library supporting costmaps, multifloor maps, etc.). It is designed to be replaceable for a new IO library (e.g. OccupancyGrid saving/loading functions moved from the rest part of map server code. This library is also used by map_loader and map_saver to work. In order to allow easily save/load map from external code just by calling necessary function. The library is designed to be an object-independent Like map_server, it has an ability to save the map from Map_server is responsible for loading the map from a file through command-line interface Of map types, and thus some aspects of the original code have been refactored to supportĬurrently map server divides into tree parts: In contrast to the ROS1 navigation map server, the nav2 map server will support a variety See its Configuration Guide Page for additional parameter descriptions. Map server will expose maps on the node bringup, but can also change maps using a load_map service during run-time, as well as save maps using a save_map server. The Map Server provides maps to the rest of the Nav2 system using both topic and
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