save a map using nav2_map_server

Save a map while the robot is moving :

ros2 run nav2_map_server map_saver_cli -f ~/my_map

move a robot by using the command topic of cmd_vel :

ros2 run teleop_twist_keyboard teleop_twist_keyboard ros2 run rqt_robot_steering rqt_robot_steering

save a map as lifelong :

ros2 service call /slam_toolbox/serialize_map slam_toolbox/srv/SerializePoseGraph "filename: 'my_lifelong_map'"

my_mapper_params_lifelong.yaml :

slam_toolbox:   ros__parameters:     # Plugin params     solver_plugin: solver_plugins::CeresSolver     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY     ceres_preconditioner: SCHUR_JACOBI     ceres_trust_strategy: LEVENBERG_MARQUARDT     ceres_dogleg_type: TRADITIONAL_DOGLEG     ceres_loss_function: None     # ROS Parameters     odom_frame: odom     map_frame: map     base_frame: base_footprint     scan_topic: /scan     mode: mapping     # lifelong params     lifelong_search_use_tree: false     lifelong_minimum_score: 0.1     lifelong_iou_match: 0.85     lifelong_node_removal_score: 0.04     lifelong_overlap_score_scale: 0.06     lifelong_constraint_multiplier: 0.08     lifelong_nearby_penalty: 0.001     lifelong_candidates_scale: 0.03     # if you'd like to immediately start continuing a map at a given pose     # or at the dock, but they are mutually exclusive, if pose is given     # will use pose     map_file_name: my_lifelong_map     #map_start_pose: [0.0, 0.0, 0.0]     map_start_at_dock: true     debug_logging: false     throttle_scans: 1     transform_publish_period: 0.02 #if 0 never publishes odometry     map_update_interval: 5.0     resolution: 0.05     max_laser_range: 20.0 #for rastering images     minimum_time_interval: 0.5     transform_timeout: 0.2     tf_buffer_duration: 10.     stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps     # General Parameters     use_scan_matching: true     use_scan_barycenter: true     minimum_travel_distance: 0.5     minimum_travel_heading: 0.5     scan_buffer_size: 10     scan_buffer_maximum_scan_distance: 10.0     link_match_minimum_response_fine: 0.1       link_scan_maximum_distance: 1.5     loop_search_maximum_distance: 3.0     do_loop_closing: true     loop_match_minimum_chain_size: 10               loop_match_maximum_variance_coarse: 3.0       loop_match_minimum_response_coarse: 0.35         loop_match_minimum_response_fine: 0.45     # Correlation Parameters - Correlation Parameters     correlation_search_space_dimension: 0.5     correlation_search_space_resolution: 0.01     correlation_search_space_smear_deviation: 0.1     # Correlation Parameters - Loop Closure Parameters     loop_search_space_dimension: 8.0     loop_search_space_resolution: 0.05     loop_search_space_smear_deviation: 0.03     # Scan Matcher Parameters     distance_variance_penalty: 0.5           angle_variance_penalty: 1.0         fine_search_angle_offset: 0.00349         coarse_search_angle_offset: 0.349       coarse_angle_resolution: 0.0349             minimum_angle_penalty: 0.9     minimum_distance_penalty: 0.5     use_response_expansion: true

navigation2.launch.py :

#!/usr/bin/env python3 # Copyright 2019 Open Source Robotics Foundation, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # #     http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # Author: Bishop Pearson import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node def generate_launch_description():     use_sim_time = LaunchConfiguration('use_sim_time', default='false')     map_dir = LaunchConfiguration(         'map',         default=os.path.join(             get_package_share_directory('omo_r1_navigation2'),             'map',             'turtlebot3_world.yaml'))     param_file_name = 'omo_r1mini.yaml'     param_dir = LaunchConfiguration(         'params_file',         default=os.path.join(             get_package_share_directory('omo_r1_navigation2'),             'param',             param_file_name))     nav2_launch_file_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch')     return LaunchDescription([         DeclareLaunchArgument(             'map',             default_value=map_dir,             description='Full path to map file to load'),         DeclareLaunchArgument(             'params_file',             default_value=param_dir,             description='Full path to param file to load'),         DeclareLaunchArgument(             'use_sim_time',             default_value='false',             description='Use simulation (Gazebo) clock if true'),         IncludeLaunchDescription(             PythonLaunchDescriptionSource([nav2_launch_file_dir, '/bringup_launch.py']),             launch_arguments={                 'map': map_dir,                 'use_sim_time': use_sim_time,                 'params_file': param_dir}.items(),         )     ])

 

 

 

 

 

 

Reference

[1] https://navigation.ros.org/tutorials/docs/navigation2_with_slam.html

(SLAM) Navigating While Mapping — Navigation 2 1.0.0 documentation

[2] https://github.com/SteveMacenski/slam_toolbox.git

GitHub - SteveMacenski/slam_toolbox: Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

[3] https://app.theconstructsim.com/Academy?t=2

Develop the Robots of the Future

[4] https://bitbucket.org/theconstructcore/?page=1

Bitbucket

[5] https://github.com/omorobot/omo_r1-foxy

GitHub - omorobot/omo_r1-foxy