navigation 之 map_server

1.map_server

• map_server包提供了一个map_server ROS 节点, 该节点通过ROS 服务器方式提供地图数据。
• 该包还提供了map_saver命令行utility, 使用该工具可将动态创建的地图保存成文件。

地图格式：

• 该包中的工具使用过的地图会被存储在两个文件中。一个是YAML格式的文件描述地图meta-data并命名image文件。另一个image文件用来编码occupancy data。

安装：

sudo apt-get install ros-kinetic-map-server

1.1 地图的保存

//threshold_free [0,100]  默认  int threshold_occupied = 60;  int threshold_free = 19;
#define USAGE "Usage: \n" \
              "  map_saver -h\n"\
              "  map_saver [--occ <threshold_occupied>] [--free <threshold_free>] [-f <mapname>] [ROS remapping args]"

roslaunch启动map_server

<launch>
	<node pkg="map_server" type="map_saver" name="map_saver" args="-f PATH" output="screen">
		<remap from="map" to="/< Map Topic >" /> 		
	</node>
</launch>

命令行启动map_server

rosrun map_server map_saver map:=/<Map Topic> -f <PATH>
//eg:
rosrun map_server map_saver map:=/map -f map_1

其中C++参数使用这块可以借鉴：

#define USAGE "Usage: \n" \
              "  map_saver -h\n"\
              "  map_saver [--occ <threshold_occupied>] [--free <threshold_free>] [-f <mapname>] [ROS remapping args]"

int main(int argc, char** argv)
{         
  ros::init(argc, argv, "map_saver");
  std::string mapname = "map";
  int threshold_occupied = 60;
  int threshold_free = 19;

  for(int i=1; i<argc; i++)
  {
    if(!strcmp(argv[i], "-h"))
    {
      puts(USAGE);
      return 0;
    }
    else if(!strcmp(argv[i], "-f"))
    {
      if(++i < argc)
        mapname = argv[i];
      else
      {
        puts(USAGE);
        return 1;
      }
    }
    else if (!strcmp(argv[i], "--occ"))
    {
      if (++i < argc)
      {
        threshold_occupied = std::atoi(argv[i]);
        if (threshold_occupied < 1 || threshold_occupied > 100)
        {
          ROS_ERROR("threshold_occupied must be between 1 and 100");
          return 1;
        }

      }
      else
      {
        puts(USAGE);
        return 1;
      }
    }
    else if (!strcmp(argv[i], "--free"))
    {
      if (++i < argc)
      {
        threshold_free = std::atoi(argv[i]);
        if (threshold_free < 0 || threshold_free > 100)
        {
          ROS_ERROR("threshold_free must be between 0 and 100");
          return 1;
        }

      }
      else
      {
        puts(USAGE);
        return 1;
      }
    }
    else
    {
      puts(USAGE);
      return 1;
    }
  }

1.2 地图加载

#define USAGE "\nUSAGE: map_server <map.yaml>\n" \
              "  map.yaml: map description file\n" \
              "DEPRECATED USAGE: map_server <map> <resolution>\n" \
              "  map: image file to load\n"\
              "  resolution: map resolution [meters/pixel]"

加载案例：

rosrun map_server map_server map_1.yaml