# map_saver_params.yaml — nav2_map_server map_saver_server config (Issue #696)
#
# map_saver_server is a lifecycle node from nav2_map_server that exposes the
# /map_saver/save_map action (nav2_msgs/action/SaveMap).  It is included in
# the SLAM bringup so operators can trigger a map save without restarting.
#
# Save a map (while SLAM is running):
#   ros2 run nav2_map_server map_saver_cli \
#       -f /mnt/nvme/saltybot/maps/saltybot_map --map_subscribe_transient_local
#
# Or via action:
#   ros2 action send_goal /map_saver/save_map nav2_msgs/action/SaveMap \
#       '{map_topic: "map", map_url: "/mnt/nvme/saltybot/maps/saltybot_map",
#         image_format: "pgm", map_mode: "trinary",
#         free_thresh: 0.25, occupied_thresh: 0.65}'

map_saver:
  ros__parameters:
    save_map_timeout:          5.0    # s — time to wait for /map topic on save
    free_thresh_default:       0.25   # p ≤ 0.25 → free cell
    occupied_thresh_default:   0.65   # p ≥ 0.65 → occupied cell
    map_subscribe_transient_local: true  # use transient-local QoS (required for /map)
