保存地图

幽灵

1. rosrun map_server map_saver -f /home/igk/make_ws/map
   
2. [ INFO] [1719367873.212437076]: Waiting for the map
   
3. [ INFO] [1719367873.418904819]: Received a 192 X 192 map @ 0.100 m/pix
   
4. [ INFO] [1719367873.418948195]: Writing map occupancy data to /home/igk/make_ws/map.pgm
   
5. [ INFO] [1719367873.420483200]: Writing map occupancy data to /home/igk/make_ws/map.yaml
   
6. [ INFO] [1719367873.420763688]: Done

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launch 文件保存

1. <!-- save_map.launch -->
   
2. <launch>
   
3.   <!-- 定义保存地图文件的文件名 -->
   
4.   <arg name="map_file_name" default="my_map" />
   
5. 
   
6.   <!-- 定义ROS参数，用于保存地图的目录路径 -->
   
7.   <arg name="map_save_directory" default="$(find gmapping)/launch" />
   
8. 
   
9.   <!-- 启动map_saver节点，保存地图文件 -->
   
10.   <node name="map_saver" pkg="map_server" type="map_saver" output="screen" args="-f $(arg map_save_directory)/$(arg map_file_name)" />
    
11. </launch>
    

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