mrpt_map

• mrpt_map
  • Overview
  • Node: mrpt_map_server
    • Working rationale
    • ROS Parameters
    • Subscribed topics
    • Published topics
    • Template ROS 2 launch files

Overview

This package provides a ROS 2 node that publishes a static map for other nodes to use it. Unlike classic ROS 1 map_server, this node can publish a range of different metric maps, not only occupancy grids.

Node: mrpt_map_server

Working rationale

The C++ ROS 2 node loads all parameters at start up, loads the map as requested by parameters, and publishes the metric map in the corresponding topics. It is also possible to change the map via ROS services.

There are three formats in which maps can be read:

1. As a ROS standard YAML file. Here, a *.yaml file specifies the metadata of a 2D occupancy gridmap, which is stored as an accompanying image file.

2. As a serialized MRPT metric map file. A *.metricmap file contains any of the existing MRPT metric maps (point clouds, grid maps, etc.), which may come from custom applications or other SLAM packages.

3. As an MRPT "simplemap" *.simplemap which contains raw sensory data, together with a metric map specification in an multi-metric map *.ini file. The former typically comes from an MRPT SLAM package. The later, then can be used to build different metric maps (octomaps, gridmaps, pointclouds, etc.) from the same original SLAM result.

Refer to example launch files at the end of this file for examples of usage of each of these methods.

ROS Parameters

• map_yaml_file (Default=undefined): Define this parameter to load a ROS standard YAML file gridmap (option 1 above).
• ini_file and map_file (Default=undefined): Define these two parameters to use option 2 above.
• mrpt_metricmap_file (Default=undefined): Define this parameter to use option 3 above (TODO).

• frame_id (Default=map): TF frame.

• pub_map_ros (Default=map) and pub_metadata (Default=map_metadata): The topic names to which to publish the occupancy gridmap and its metadata. In case of the read map being an MRPT multimetric map, the first occupancy grid will be published here.

Subscribed topics

None.

Published topics

• map (nav_msgs::msg::OccupancyGrid)
• pub_metadata (nav_msgs::msg::MapMetaData)

Template ROS 2 launch files

This package provides launch/mrpt_map_server.launch.py:

ros2 launch mrpt_map mrpt_map_server.launch.py

which can be used in user projects to launch the MRPT map server node, by setting these launch arguments:

• xxx

Demos

Launch an map server from a ROS yaml gridmap (launch file):

ros2 launch mrpt_tutorials demo_map_server_gridmap_from_yaml.launch.py

Changelog for package mrpt_map

1.0.3 (2022-06-25)

1.0.2 (2022-06-25)

1.0.1 (2022-06-24)

• Fix build errors
• Removed now obsolete tf_prefix
• Ported to tf2 and mrpt::ros1bridge
• Contributors: Jose Luis Blanco-Claraco

1.0.0 (2022-04-30)

• Update URLs to https
• Update build dep to mrpt2
• Contributors: Jose Luis Blanco Claraco

0.1.26 (2019-10-05)

0.1.25 (2019-10-04)

0.1.24 (2019-04-12)

• fix build against mrpt-1.5
• Fix build against MRPT 1.9.9
• Contributors: Inounx, Jose Luis Blanco-Claraco, Julian Lopez Velasquez

0.1.23 (2018-06-14)

0.1.20 (2018-04-26)

• fix build against mrpt 2.0
• partial fix build w mrpt 2.0
• optimized build (-O3)
• fix use c++14
• Merge branch \'master\' of github.com:tuw-robotics/mrpt_navigation
• Merge branch \'master\' into master
• CMake finds MRPT >=1.5 in ROS master branch
• Merge branch \'master\' into compat-mrpt-1.5
• CMake finds MRPT >=1.9
• avoid Eigen warnings with GCC-7
• Removed unnecessry MRPT_VERSION checks
• Fixes for clang format
• Adapted CMakeLists to new mrpt
• Contributors: Borys Tymchenko, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader

0.1.22 (2018-05-22)

• fix all catkin_lint errors
• Contributors: Jose Luis Blanco-Claraco

0.1.21 (2018-04-27)

• Upgrade version 0.1.20 (#99)
• fix build against mrpt 2.0
• partial fix build w mrpt 2.0
• optimized build (-O3)
• fix use c++14
• Merge branch \'master\' of github.com:tuw-robotics/mrpt_navigation
• Merge branch \'master\' into master
• CMake finds MRPT >=1.5 in ROS master branch
• Merge branch \'master\' into compat-mrpt-1.5
• CMake finds MRPT >=1.9
• avoid Eigen warnings with GCC-7
• Removed unnecessry MRPT_VERSION checks
• Fixes for clang format
• Adapted CMakeLists to new mrpt
• Contributors: Borys Tymchenko, Hunter Laux, Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco, Markus Bader

0.1.18 (2017-01-22)

0.1.17 (2017-01-22)

• Remove all errors generated by catkin_lint and cleanup unused templates from CMakeLists.txt files
• Contributors: Jorge Santos

0.1.16 (2016-12-13)

0.1.15 (2016-11-06)

0.1.14 (2016-09-12)

0.1.13 (2016-09-03)

0.1.12 (2016-09-03)

0.1.11 (2016-08-21)

0.1.10 (2016-08-05)

0.1.9 (2016-08-05)

0.1.8 (2016-06-29)

0.1.7 (2016-06-20)

0.1.6 (2016-03-20)

• build fixes
• Contributors: Jose Luis Blanco

0.1.5 (2015-04-29)

• Fix build against mrpt 1.3.0
• Contributors: Jose Luis Blanco

0.1.4 (2014-12-27)

• Removed \'mrpt\' dep from catkin_package(). I think this is giving problems to dependant pkgs and is not needed...
• localization: New param to configure sensor sources in a flexible way
• Contributors: Jose Luis Blanco

0.1.3 (2014-12-18)

• Fix many missing install files
• Contributors: Jose Luis Blanco

0.1.2 (2014-12-18)

0.1.1 (2014-12-17)

• First public binary release.

0.1.0 (2014-12-17)

• consistent version numbers
• Fixes broken dependencies
• Update all wiki URLs
• Fix build with mrpt 1.2.x
• localization uses tf odom
• localization working like amcl
• mrpt_rawlog_play working
• ros mrpt convetion fnc renamed to convert
• rawlog player
• map publisher added but not yet working
• Contributors: Jose Luis Blanco, Jose-Luis Blanco-Claraco, Markus Bader