How to save map after SLAM

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Ahmed Magdy 2023-9-10

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https://ww2.mathworks.cn/matlabcentral/answers/2019221-how-to-save-map-after-slam

评论： Ahmed Magdy 2023-9-14

To save the map generated during the SLAM session, I can use the map_saver package provided by ROS and save it as two files:

.pgm file and .yaml file.

In Lidar_Slam_Sim example, I only have a chance to visualize the generated map using the video display, as shown in the image.

How can I save the .pgm and . yaml files from simulink?

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采纳的回答

Zheng Dong 2023-9-12

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https://ww2.mathworks.cn/matlabcentral/answers/2019221-how-to-save-map-after-slam#answer_1308371

prototype.slx

Hi Ahmed,

Here is a workaround for your question. The prototype is attached.

In summary, you can add a blank nav_msgs/OccupancyGrid type message as an input to your lidar SLAM block and then utilize the function "fcn" in the demo block to overwrite the message with the map data you got from the SLAM algorithm. In the prototype, a random occupancyMap is used, but in your case it will be the occupancyMap you got from the lidar SLAM. Then you can publish it to map_saver to output the map.

Hope it helps,

Best,

Zheng

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Zheng Dong 2023-9-14

Hi Ahmed,

This is because 128 is the default maximum length for message. Find "Variable Size Messages" in "SIMULATION" section, choose "nav_msgs/OccupancyGrid", uncheck "Use default limits for this message type", and then specify a number is larger than your map data size (82944 in your figure). Check the figure for more details.