2 Commits

Author	SHA1	Message	Date
sl-firmware	f5877756d5	feat: Map save/load service for SLAM Toolbox persistence (Issue #480) ... Implement automatic map serialization and persistence for slam_toolbox: - New SlamToolboxPersistenceNode with auto-save every 5 minutes - Auto-load most recent map on startup - Services: /saltybot/save_map, /saltybot/load_map, /saltybot/list_maps - Export to Nav2-compatible YAML + PGM format - Stores maps in ~/.saltybot-data/maps/ with .posegraph format - Integrates with slam_toolbox serialize/deserialize services Changes: - Created saltybot_mapping/slam_toolbox_persistence.py - Added slam_toolbox_persistence.launch.py - Updated slam.launch.py to include persistence service - Updated CMakeLists.txt to install new executable - Added slam_toolbox dependency to package.xml Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-05 14:46:33 -05:00
sl-perception	9341e9d986	feat(mapping): RTAB-Map persistence + multi-session + map management (Issue #123) ... - Add saltybot_mapping package: MapDatabase, MapExporter, MapManagerNode - 6 ROS2 services: list/save_as/load/delete maps + export occupancy/pointcloud - Auto-save current.db every 5 min; keep last 5 autosaves; warn at 2 GB - Update rtabmap_params.yaml: database_path, Mem/InitWMWithAllNodes=true, Rtabmap/StartNewMapOnLoopClosure=false (multi-session persistence by default) - Update slam_rtabmap.launch.py: remove --delete_db_on_start, add fresh_start arg (deletes DB before launch) and database_path arg (load named map) - CLI tools: backup_map.py, export_map.py Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 09:17:54 -05:00