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ntnu-arl / gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments
BSD 3-Clause "New" or "Revised" License
648 stars 147 forks source link

How to save the map.into file? #42

Open Zheng-CW opened 7 months ago

Zheng-CW commented 7 months ago

Hello, sincerely thank you for your work, very useful to me! I use the robot to explore and create a map, how do I save this map data into the file? Does your algorithm provide a function to save the map data? Looking forward to your suggestions! Thanks again for your contributions!

MihirDharmadhikari commented 7 months ago

Hello @Zheng-CW,

If you want to save the voxblox map there is a service /gbplanner_node/save_map that you can call. It is of type voxblox_msgs/FilePath. You only need to provide the path to the map. Similarly, there is a service to load the saved voxblox map as well /gbplanner_node/load_map.

Best, Mihir

Zheng-CW commented 7 months ago

Thank you very much for your suggestions! When I save the map data through the rosservice call /gbplanner_node/save_map /home/zcw/local_map /map1.bt command, no matter I save the map several times during the robot exploration process or execute the command only once after the exploration is over, It ends up being the same amount of data! Is the effect of both methods the same? Can it be used to save maps? Glad and thank you for answering my questions!