LoadMap
Service type: fourier_msgs/srv/LoadMap
Service name: /slam/load_map
Description
Load a map and switch the system to localization mode.
Request
| Field | Type | Description |
|---|---|---|
map_path | string | Path to the map data. |
x | float64 | Initial X position in meters. |
y | float64 | Initial Y position in meters. |
z | float64 | Initial Z position in meters. |
yaw | float64 | Initial yaw angle in radians. |
Response
| Field | Type | Description |
|---|---|---|
result | uint32 | Numeric result code. |
message | string | Result details or an error message. |
Examples
Example 1
Text
map_directory/
├── global.pcd # 3D point-cloud map (required)
├── map.yaml # 2D
└── map.pgm # 2D