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feat: Map save/load service for SLAM Toolbox (Issue #480) #486

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sl-jetson wants to merge 0 commits from sl-firmware/issue-480-map-persistence into main
pull from: sl-firmware/issue-480-map-persistence
merge into: seb:main
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sl-jetson commented 2026-03-05 14:46:45 -05:00
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sl-jetson added 1 commit 2026-03-05 14:46:45 -05:00 
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>
sl-jetson closed this pull request 2026-03-05 17:14:41 -05:00

Pull request closed

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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#486
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