# map_update

**Repository Path**: evo-matrix_robotics/map_update

## Basic Information

- **Project Name**: map_update
- **Description**: map_update动态更新加载map的程序
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-17
- **Last Updated**: 2026-02-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# map_update

ROS 2 utility node that loads occupancy grid maps from standard YAML/PGM files on demand and republishes them on the `map` topic at 1 Hz. The node exposes a service so that new maps can be requested without restarting the process.

## Build

From the workspace root:

```bash
colcon build --packages-select map_update
source install/setup.bash
```

## Launch

Use the supplied launch file to load one of the sample maps under `config/00-PGM` during startup:

```bash
ros2 launch map_update map_loader.launch.py
```

Arguments:

- `map_yaml` (default: `share/map_update/config/00-PGM/floot4_inner.yaml`)
- `map_frame` (default: `map`)

## Loading maps via service

The node provides a `map_update/srv/LoadMap` service on `/load_map`. Call it with the absolute path to the YAML configuration you want to load:

```bash
ros2 service call /load_map map_update/srv/LoadMap "{map_yaml_path: '/home/ubuntu20/01-program/07-HandBot_SLAM/slam_ws/src/map_update/config/00-PGM/floot_2.yaml'}"
```

On success the new map is cached and begins streaming on `map` at 1 Hz. Use `ros2 topic echo /map` or `ros2 topic hz /map` to verify the published data.

## Map requirements

- YAML layout matches the standard `nav2_map_server` format (keys: `image`, `resolution`, `origin`, `negate`, `occupied_thresh`, `free_thresh`).
- Supported image formats: binary (`P5`) or ASCII (`P2`) PGM.
- Relative image paths are resolved relative to the YAML file's directory.