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: int Default: 2: Timeout to attempt saving the map (seconds).

`free_thresh_default`

Type: double Default: 0.25: Free space maximum probability threshold value for occupancy grid.

`occupied_thresh_default`

Type: double Default: 0.65: Occupied space minimum probability threshold value for occupancy grid.

`introspection_mode`

Type: string Default: "disabled": The introspection mode for services and actions. Options are "disabled", "metadata", "contents".

Example

map_saver:
  ros__parameters:
    save_map_timeout: 2
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    introspection_mode: "disabled"