在ROS-Navigation中有map_server的工具可以把2D SLAM的地图保存为pgm格式，但map_server只是工具，没办法很个性化自由的处理，这里介绍下源代码的形式：
map_server.cpp
#include <ros/ros.h>
#include <nav_msgs/OccupancyGrid.h>
#include <fstream>
#include <iostream>
void saveMapCallback(const nav_msgs::OccupancyGrid::ConstPtr& map)
{
// 获取地图数据
int width = map->info.width;
int height = map->info.height;
const std::vector<int8_t>& data = map->data;
// 创建PGM文件
std::ofstream file("/home/user/Desktop/map.pgm");
if (!file)
{
ROS_ERROR("Failed to create PGM file");
return;
}
// 写入PGM文件头信息
file << "P5" << std::endl;
file << width << " " << height << std::endl;
file << "255" << std::endl;
// 写入地图数据
for (const auto& pixel : data)
{
if (pixel == 0)
{
file.put(255); // 未知区域（白色）
}
else if (pixel == 100)
{
file.put(0); // 障碍物（黑色）
}
else
{
file.put(205); // 可行区域（灰色）
}
}
file.close();
ROS_INFO("Map saved as map.pgm");
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "map_saver_example");
ros::NodeHandle nh;
// 订阅/map话题来获取地图数据
ros::Subscriber sub = nh.subscribe("/map", 1, saveMapCallback);
ros::spin();
return 0;
}
CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)
project(self_map_server)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
map_server
nav_msgs
roscpp
rospy
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# nav_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES self_map_server
# CATKIN_DEPENDS map_server nav_msgs roscpp rospy
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${
catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${
PROJECT_NAME}
# src/${
PROJECT_NAME}/self_map_server.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${
PROJECT_NAME} ${
${
PROJECT_NAME}_EXPORTED_TARGETS} ${
catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${
PROJECT_NAME}_node src/self_map_server_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${
PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${
PROJECT_NAME}_node ${
${
PROJECT_NAME}_EXPORTED_TARGETS} ${
catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${
PROJECT_NAME}_node
# ${
catkin_LIBRARIES}
# )
add_executable(self_map_server src/map_server.cpp)
target_link_libraries(self_map_server ${
catkin_LIBRARIES})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${
CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${
PROJECT_NAME}_node
# RUNTIME DESTINATION ${
CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${
PROJECT_NAME}
# ARCHIVE DESTINATION ${
CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${
CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${
CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${
PROJECT_NAME}/
# DESTINATION ${
CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${
CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${
PROJECT_NAME}-test test/test_self_map_server.cpp)
# if(TARGET ${
PROJECT_NAME}-test)
# target_link_libraries(${
PROJECT_NAME}-test ${
PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
package.xml
<?xml version="1.0"?>
<package format="2">
<name>self_map_server</name>
<version>0.0.0</version>
<description>The self_map_server package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">user</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/self_map_server</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="[email protected]">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>map_server</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_export_depend>map_server</build_export_depend>
<build_export_depend>nav_msgs</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<exec_depend>map_server</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>