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save_composite_map

Service type: map_manager/srv/SaveCompositeMap

Service name: /save_composite_map

Description​

Saves the current runtime map to the archive directory in map_path and exports map.pgm and map.yaml. An existing target directory is replaced.

Request (Request)​

FieldTypeDescription
map_pathstringArchive directory to write.
compressboolCompatibility field; GRW does not use it to select an export format.

Response (Response)​

FieldTypeDescription
successboolWhether the operation succeeded.
messagestringResult or error message.
saved_pathstringThe requested map_path.

Example​

Complete Environment Preparation first: the CLI examples require ROBOT_NAMESPACE to be set; the Python and C++ examples use relative service names, so append --ros-args -r __ns:=$ROBOT_NAMESPACE when running them.

CLI call​

Bash
ros2 service call $ROBOT_NAMESPACE/save_composite_map map_manager/srv/SaveCompositeMap \
  "{map_path: '/data/maps/office', compress: false}"

compress is not an export-format switch on GRW. Pass an archive directory and take saved_path from the response as the save result.

Notes: In rare cases this service may return success=false, message='save failed'; retrying after a robot restart usually recovers. Keep known-good archives as a fallback. Annotations (POIs/virtual walls/forbidden areas) are stored inside the archive and restored on load - see the annotation lifecycle notes in ros_api.md section 9.2.

Python example​

Python
import rclpy
from rclpy.node import Node
from map_manager.srv import SaveCompositeMap


class MapSaver(Node):
    def __init__(self):
        super().__init__('map_saver')
        self.client = self.create_client(
            SaveCompositeMap, 'save_composite_map')

    def save(self, map_path: str):
        self.client.wait_for_service()
        request = SaveCompositeMap.Request()
        request.map_path = map_path
        request.compress = False
        future = self.client.call_async(request)
        rclpy.spin_until_future_complete(self, future)
        return future.result()


rclpy.init()
node = MapSaver()
result = node.save('/data/maps/office')
print(result.message, result.saved_path)
node.destroy_node()
rclpy.shutdown()

C++ example​

C++
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <map_manager/srv/save_composite_map.hpp>

auto node = std::make_shared<rclcpp::Node>("map_saver");
auto client = node->create_client<map_manager::srv::SaveCompositeMap>(
    "save_composite_map");
client->wait_for_service();

auto request = std::make_shared<map_manager::srv::SaveCompositeMap::Request>();
request->map_path = "/data/maps/office";
request->compress = false;
auto future = client->async_send_request(request);
if (rclcpp::spin_until_future_complete(node, future) ==
    rclcpp::FutureReturnCode::SUCCESS) {
    const auto response = future.get();
    RCLCPP_INFO(node->get_logger(), "%s: %s",
                response->message.c_str(), response->saved_path.c_str());
}

Archive contents​

  • Map archive data reloadable by this module
  • map.pgm
  • map.yaml