Map Server

Source code on Github.

The Map server package implements various components for handling grid maps, including loading, saving, and publishing maps and their metadata. Currently the following components are supported in Nav2:

• Map Server

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  Loads and serves static occupancy grid maps.

  Go

• Map Saver

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  Saves maps from SLAM to disk.

  Go

• Costmap Filter Info Server

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  Publishes spatial filter metadata for keepout/speed zones.

  Go

• Vector Object Server

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  Serves dynamic geometric map objects (polygons, lines, points).

  Go