Message Store Map Server

This package provides tools for serving OccupancyGrid maps from the mongodb_store.

Running the datacentre

All of the below assumes you have the mongodb_store nodes running. Do this with:

roslaunch mongodb_store datacentre.launch

Adding maps to the datacentre

At the moment maps must be added using the message_store_map_saver executable. This loads a map described by a yaml file (using code from the main map_server) and then inserts the map into the message store with the name up to the last “.” in the yaml file name. Usage is:

rosrun message_store_map_switcher message_store_map_saver <map.yaml>

E.g.

rosrun message_store_map_switcher message_store_map_saver cs_lg.yaml

Results in a map named cs_lg being added to the message store. This currently uses the default database and collection (both named message_store).

Running the map server

The message_store_map_server can be started as follows:

rosrun message_store_map_switcher message_store_map_server.py

This will start it without any map being published. If you want to start with a default map you can use the -d command line parameter:

rosrun message_store_map_switcher message_store_map_server.py -d cs_lg

This can be overridden with the ROS parameter “default_map”.

Switching maps

To switch to another map from the message store, you must use the message_store_map_switcher/SwitchMap service at /switch_map. This accepts a string for the map name and returns a boolean if the map was switched. For example,

rosservice call /switch_map "cs_lg"
result: True

rosservice call /switch_map "not_cs_lg"
result: False

Original page: https://github.com/strands-project/strands_navigation/blob/indigo-devel/message_store_map_switcher/README.md