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Optional transient map saver #2215

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merged 2 commits into from
Mar 3, 2021
Merged

Optional transient map saver #2215

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0d4cda6
Added transient local subscription qos profile parameter to map saver…
Michael-Equi Jul 16, 2020
da8ae4d
Make transient map subscribe backwards compatible for foxy
Mar 3, 2021
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1 change: 1 addition & 0 deletions nav2_bringup/bringup/params/nav2_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -243,6 +243,7 @@ map_saver:
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: False

planner_server:
ros__parameters:
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2 changes: 2 additions & 0 deletions nav2_map_server/include/nav2_map_server/map_saver.hpp
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Expand Up @@ -103,6 +103,8 @@ class MapSaver : public nav2_util::LifecycleNode
// Default values for map thresholds
double free_thresh_default_;
double occupied_thresh_default_;
// param for handling QoS configuration
bool map_subscribe_transient_local_;

// The name of the service for saving a map from topic
const std::string save_map_service_name_{"save_map"};
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11 changes: 10 additions & 1 deletion nav2_map_server/src/map_saver/map_saver.cpp
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Expand Up @@ -50,6 +50,8 @@ MapSaver::MapSaver()

free_thresh_default_ = declare_parameter("free_thresh_default", 0.25),
occupied_thresh_default_ = declare_parameter("occupied_thresh_default", 0.65);
// false only of foxy for backwards compatibility
map_subscribe_transient_local_ = declare_parameter("map_subscribe_transient_local", false);
}

MapSaver::~MapSaver()
Expand Down Expand Up @@ -173,8 +175,15 @@ bool MapSaver::saveMapTopicToFile(
// Add new subscription for incoming map topic.
// Utilizing local rclcpp::Node (rclcpp_node_) from nav2_util::LifecycleNode
// as a map listener.
rclcpp::QoS map_qos = rclcpp::SystemDefaultsQoS(); // initialize to default
if (map_subscribe_transient_local_) {
map_qos = rclcpp::QoS(10);
map_qos.transient_local();
map_qos.reliable();
map_qos.keep_last(1);
}
auto map_sub = rclcpp_node_->create_subscription<nav_msgs::msg::OccupancyGrid>(
map_topic_loc, rclcpp::SystemDefaultsQoS(), mapCallback);
map_topic_loc, map_qos, mapCallback);

rclcpp::Time start_time = now();
while (rclcpp::ok()) {
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