Map Server
The Map Server implements the server for handling the map load requests for the stack and hosts a map topic.
Map Server Parameters
- yaml_filename
Type
Default
string
N/A
- Description
Path to map yaml file. Note from Rolling + Iron-Turtle forward: This parameter can set either from the yaml file or using the launch configuration parameter
map. If we set it on launch commandline / launch configuration default, we override the yaml default. If you would like the specify your map file in yaml, remove the launch default so it is not overridden in Nav2’s default launch files. Before Iron:yaml_filenamemust be set in the yaml (even if a bogus value) so that our launch scripts can overwrite it with launch values.
- topic_name
Type
Default
string
“map”
- Description
Topic to publish loaded map to.
- frame_id
Type
Default
string
“map”
- Description
Frame to publish loaded map in.
- introspection_mode
Type
Default
string
“disabled”
- Description
The introspection mode for services and actions. Options are “disabled”, “metadata”, “contents”.