multimap_server

Map server implementation based on the map_server package at http://wiki.ros.org/map_server that extends the functionality of the original.

1 multimap_server

Map server implementation that allows to offer multiple maps simultaneously. You can pass a .yaml file as an argument to load an initial set of maps. An example can be found in config/multimap_server_config.yaml

1.1 Published Topics

• map_metadata (nav_msgs/MapMetaData)

  Receive the map metadata via this latched topic. One for each map.

• map (nav_msgs/OccupancyGrid)

  Receive the map via this latched topic. One for each map.

• environments (multimap_server_msgs/Environments)

  Contains information about the currently loaded environments.

1.2 Services

• load_environments (multimap_server_msgs/LoadEnvironments)

  Load a new environment using an environment .yaml file.

  • environments_url: Path to environment .yaml file to be loaded

  Example:

  rosservice call /load_environments "environments_url: '/home/rb1/maps/robotnik_environments.yaml'"

• load_map (multimap_server_msgs/LoadMap)

  Load a new map using a map .yaml file. You also have to define a namespace, a desired map_name and a frame_id for the new map.

  • map_url: Path to map .yaml file to be loaded
  • ns: Namespace in which the map will be loaded. If it matches with an existing environment, the map will be loaded on that environment. Otherwise, a new environment will be created.
  • map_name: Desired name for the published map
  • global_frame: frame_id in which the map will be published. It will be ignored if the environment already exists.

  Example:

  rosservice call /load_map "map_url: '/home/rb1/maps/robotnik_routes_map.yaml' ns: 'robotnik_floor_0' map_name: 'routes' global_frame: 'level_0_map'"

• dump_environments (std_srvs/Trigger)

  Unloads all environments and maps.

• dump_map (multimap_server_msgs/DumpMap)

  Unloads a map from an environment.

  • ns: Name of the environment in which the map is loaded. This is the same as the map namespace.
  • map_name: Name of the map to be unloaded.

  Example:

  rosservice call /dump_map "ns: 'robotnik_floor_1' map_name: 'localization'"

1.3 Bringup

rosrun multimap_server multimap_server (path_to_environments_yaml_file)

2 online_map_saver

Map saver implementation that runs continuously and offers a service to save maps on demand.

2.1 Services

• save_map (multimap_server_msgs/SaveMap) Save a map by specifying the static_map/dynamic_map service associated to it.

  • map_service: Service offered by the map publisher/creator to retrieve the map
  • map_filename: Desired name for the saved map:
    • If a name is given, the map will be saved in the current working directory
    • If an absoulte path is given, the map will be saved there as long as the path exists and it can be modified by the user.
  • use_default_thresholds: If true, the default thresholds (free = 0, occ = 100) will be used. Otherwise, the values will be taken from the fields threshold_occupied and threshold_free.
  • threshold_occupied: Value between 1 and 100
  • threshold_occupied: Value between 0 and 100

  Examples:

  rosservice call /save_map "{map_service: '/floor_0/localization/static_map', map_filename: 'localization_map_0', use_default_thresholds: true, threshold_occupied: 0.0, threshold_free: 0.0}"

  rosservice call /save_map "{map_service: '/gmapping/dynamic_map', map_filename: '/home/rb1/maps/robotnik_warehouse_map', use_default_thresholds: true, threshold_occupied: 0.0, threshold_free: 0.0}"

2.2 Bringup

rosrun multimap_server online_map_saver