map_saver for different map topics

Question

Hey there.

I am trying to figure out how is possible to use

rosrun map_server map_saver -f name_of_map

in order to save maps simultaneously made by different gmapping nodes, that is, how to save maps with another topic name than /map.

For instance, /map_1 and /map_2 are being created and the point is to save both maps in different files.

I was watching map_server code in GitHub and found this test launcher:

 <launch>

  <node name="map_server" pkg="map_server" type="map_server" args="$(find map_server)/test/testmap.yaml"/>

  <test test-name="map_server_test" pkg="map_server" type="rtest"/>

</launch>

But I don't know how to modify it in order to accomplish that. Could you give me a hand?

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Originally posted by chbloca on ROS Answers with karma: 94 on 2019-01-29

Post score: 2

Answer 1

I found the solution:

rosrun map_server map_saver map:=/map_2 -f name_of_map

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Originally posted by chbloca with karma: 94 on 2019-01-29

This answer was ACCEPTED on the original site

Post score: 4

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Original comments

Comment by Combinacijus on 2020-03-23:
Thanks, to add full command looks like this (in my case):

rosrun map_server map_saver --occ 100 --free 10 -f my_map map:=/move_base/global_costmap/costmap