Service type: fourier_msgs/srv/SaveMap
Service name: /slam/save_map
Description
Save the current 3D point-cloud map. This service is available in mapping mode.
Request
| Field | Type | Description |
|---|
map_id | string | Map identifier or destination path. An absolute path starts with /; a relative value is saved under ./data/{map_id}/. Missing directories are created automatically. |
Response
| Field | Type | Description |
|---|
response | uint32 | Result code; see the table below. |
Result Codes
| Code | Description |
|---|
0 | Saved successfully. |
1 | A save operation is already running. |
2 | Image-rendering reset failed. |
3 | The map is empty and cannot be saved. |
4 | Map-expansion localization failed. |
Saved Data
| File | Format | Description |
|---|
global.pcd | PCL binary-compressed | 3D point-cloud map. |
*.bin | Binary | Optional tiled map data. |
Notes
- This service is available only in mapping mode.
- An existing destination directory is removed and recreated.
- Save the 2D map separately with the map-saving utility.