🛺D.14 Map Server / Saver

Map Server က server တခု ဖြစ်ပြီးတော့ မြေပုံ ထုတ်ပေးခြင်းနဲ့ map topic အတွက် host လုပ်‌ပေးခြင်းတိုကို လုပ်ဆောင်ပါတယ်။ Service တွေ request လုပ်တဲ့ အတိုင်း မြေပုံကို သိမ်းဆည်းပေးထားပြီး နောက်ကွယ်ကနေ Map Saver Serverအဖြစ်လည်း လုပ်ဆောင်ပေးပါတယ်။ လက်ရှိ map saver ကတော့ ROS1 တုန်းကလို မြေပုံ တခုကို သိမ်းပေးတယ်။

Map Saver Parameters

Name	Descriptions	Type	Default
save_map_timeout	Timeout to attempt saving the map	int	2
free_thresh_default	Free space maximum probability threshold value for occupancy grid	double	0.25
occupied_thresh_default	Occupied space minimum probability threshold value for occupancy grid.	double	0.65

Map Server Parameters

Name	Descriptions	Type	Default
yaml_filename	Path to map yaml file. This parameter can set either from the yaml file or using the launch configuration parameter map.	string	N/A
topic_name	Topic to publish loaded map to.	string	“map”
frame_id	Frame to publish loaded map in.	string	“map”

Costmap Filter Info Server Paramters

Name	Descriptions	Type	Default
type	Type of costmap filter used. This is an enum for the type of filter this should be interpreted as. If default Values 0: keepout zones / preferred lanes filter 1: speed filter, speed limit is specified in % of maximum speed 2: speed filter, speed limit is specified in absolute value (m/s) 3: binary filter	int	0
filter_info_topic	Topic to publish costmap filter information to.	string	“costmap_filter_info”
mask_topic	Topic to publish filter mask to.	string	“filter_mask”
base	Base of OccupancyGrid mask value -> filter space value linear conversion which is being proceeded as: filter_space_value = base + multiplier * mask_value	double	0
multiplier	Multiplier of OccupancyGrid mask value -> filter space value linear conversion which is being proceeded as: filter_space_value = base + multiplier * mask_value	double	1

နမူနာ

map_server:
  ros__parameters:
    yaml_filename: "turtlebot3_world.yaml"
    topic_name: "map"
    frame_id: "map"

map_saver:
  ros__parameters:
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65

costmap_filter_info_server:
  ros__parameters:
    type: 1
    filter_info_topic: "costmap_filter_info"
    mask_topic: "filter_mask"
    base: 0.0
    multiplier: 0.25