Map Saver

The map saver server runs in the background and saves maps based on service requests. There exists a map saver CLI similar to ROS 1 as well for a single map save.

Map Saver Parameters

save_map_timeout

Type

Default

int

2.0

Description

Timeout to attempt saving the map (seconds).

free_thresh_default

Type

Default

double

0.25

Description

Free space maximum probability threshold value for occupancy grid.

occupied_thresh_default

Type

Default

double

0.65

Description

Occupied space minimum probability threshold value for occupancy grid.

introspection_mode

Type

Default

string

“disabled”

Description

The introspection mode for services and actions. Options are “disabled”, “metadata”, “contents”.