This package contains a single map server node that publishes a downprojected metric map. A service is provided for chaning which waypoint is currently being published.
Usage¶
Start it with
rosrun semantic_map_to_2d semantic_map_2d_server
This then provides the service /set_waypoint
with the following
format [TODO: This should be moved to the nodes namespace…]
Request: - string waypoint
: The name of the waypoint to switch the
map to.
Response: - bool is_ok
: If the map was switched or not -
string response
: Some textual description of what when wrong if not
ok.
The map server publishes the map as a nav_msgs::OccupancyGrid
on the
topic /waypoint_map
.
Original page: https://github.com/strands-project/strands_3d_mapping/blob/hydro-devel/semantic_map_to_2d/README.md