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