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Nodes

mrpt_map

The mrpt_map node publishes (static, prebuilt) metric maps stored in MRPT formats: .simplemap or .gridmap.

Most ROS packages expect the map to be a unique occupancy grid map. This node supports those simple maps, plus all other map kinds defined in MRPT.

Published Topics

map (nav_msgs/OccupancyGrid)

• Only if param ~map_file is NOT empty, the loaded map will be published here (Latched)

map_metadata (invalid message type for MsgLink(msg/type))

• Only if param ~map_file is NOT empty, the loaded map will be published here (Latched)

Services

static_map (nav_msgs/GetMap)

• You can retrieve the loaded map here

Parameters

~ini_file (string, default: "map.ini")

• Path to a configuration file containing all the required MRPT map parameters. See TSetOfMetricMapInitializers::loadFromConfigFile for format specifications.

~map_file (string, default: (none))

• Path to an MRPT map file in either .simplemap or .gridmap formats. "Simple maps" are sequences of observation-pose pairs, so the physical metric map(s) are actually generated at load-time.

~debug (bool, default: true)

• Verbose debug output

~frequency (double, default: 0.1)

• Map publication rate (Hz)

~frame_id (string, default: "map")

• TF frame name for published map messages