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”.