sl-firmware
f5877756d5
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>
36 lines
1.2 KiB
XML
36 lines
1.2 KiB
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_mapping</name>
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<version>0.1.0</version>
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<description>RTAB-Map persistence, multi-session mapping, map management and export for saltybot</description>
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<maintainer email="seb@vayrette.com">seb</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>ament_cmake_python</buildtool_depend>
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<build_depend>rosidl_default_generators</build_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<depend>std_srvs</depend>
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<depend>sensor_msgs</depend>
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<depend>nav_msgs</depend>
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<depend>builtin_interfaces</depend>
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<depend>slam_toolbox</depend>
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<exec_depend>python3-numpy</exec_depend>
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<exec_depend>python3-yaml</exec_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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