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: string Default: N/A

Path to map yaml file. 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.

topic_name

Type: string Default: "map"

Topic to publish loaded map to.

frame_id

Type: string Default: "map"

Frame to publish loaded map in.

introspection_mode

Type: string Default: "disabled"

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

Example

map_server:
  ros__parameters:
    yaml_filename: "map.yaml"
    topic_name: "map"
    frame_id: "map"
    introspection_mode: "disabled"