This package compresses map data using image transport. Currently, only a conversion from map to image is available. The opposite direction is not implemented yet. The code in this package is a proof of concept and subject to change.



Converts map to image data and publishes the images using image_transport. The conversion is only done when the image data is requested, so the computational cost of this node running is low when no images are requested. Both a full map image as well as a tile based map image that shows only the local area around the robot are made available. For the latter to work, the robot pose must be available on the 'pose' topic as described below.

Subscribed Topics

map (nav_msgs/OccupancyGrid)
  • The map to transmit
pose (geometry_msgs/PoseStamped)
  • The robot pose given in the map frame

Published Topics

map_image/full (sensor_msgs/Image)
  • The complete map converted to an image.
map_image/tile (sensor_msgs/Image)
  • A tile of the map showing the area around the robot published as an image.

Wiki: hector_compressed_map_transport (last edited 2012-02-23 08:09:46 by StefanKohlbrecher)