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feat(mapping): RTAB-Map persistence + multi-session mapping (Issue #123) #129

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sl-jetson merged 1 commits from sl-perception/issue-123-map-persistence into main 2026-03-02 09:26:29 -05:00
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Author SHA1 Message Date
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