<> <> == Documentation == This package provides a node that permits saving of map and robot trajectory data as [[http://wiki.robocup.org/wiki/Robot_League|RoboCup Rescue Robot League]] rules compliant geotiff files with georeference information. The node internally uses services to retrieve the required data. This incorporates: * The map using the "map" service ([[http://www.ros.org/doc/api/nav_msgs/html/srv/GetMap.html|nav_msgs/GetMap]]) * The robot trajectory using the "trajectory" service ([[http://ros.org/doc/api/hector_nav_msgs/html/srv/GetRobotTrajectory.html|hector_nav_msgs/GetRobotTrajectory]]) The trajectory can easily be made available using the [[hector_trajectory_server]] node. The launch file provided in the 'hector_geotiff/launch' directory shows a usage example. Additional information can be written to the map through the use of plugins. The [[worldmodel_geotiff_plugins]] package contains an example with two plugins. The plugins to be loaded have to be specified as a space separated list of plugin names via the 'plugins' parameter. == ROS API == <> {{{ #!clearsilver CS/NodeAPI node.0 { name=geotiff_node desc=`geotiff_node` is a node that generates a geotiff map along with georeference information. sub{ 0.name= syscommand 0.type= std_msgs/String 0.desc= System command. If the string equals "savegeotiff" the node saves a geotiff file. } param{ 0.name = ~map_file_path 0.type = string 0.default = `"."` 0.desc = The path generated geotiff maps are saved to. 1.name = ~map_file_base_name 1.type = string 1.default = `"GeoTiffMap"` 1.desc = The base name given to the generated geotiff file. The current time is appended to this base name when the map is saved. 2.name = ~geotiff_save_period 2.type = double 2.default = 0.0 2.desc = The period in seconds for automatically saving geotiff files periodically. If set to 0.0, automatic saving is disabled. 5.name = ~plugins 5.type = string 5.default = `""` 5.desc = A space seperated list of plugin names that should be loaded for the node. Per default, none are loaded. } } } }}} == Report a Bug == <> ##i.e.<> ## AUTOGENERATED DON'T DELETE ## CategoryStack