From 67e7e1379e62f9fa2d47f02300164b9579783742 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Fri, 8 Mar 2019 11:43:41 +0100
Subject: [PATCH] Add save_map.launch

---
 launch/include/save_map.launch | 25 +++++++++++++++++++++++++
 1 file changed, 25 insertions(+)
 create mode 100644 launch/include/save_map.launch

diff --git a/launch/include/save_map.launch b/launch/include/save_map.launch
new file mode 100644
index 0000000..88301df
--- /dev/null
+++ b/launch/include/save_map.launch
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <arg name="ns"            default="robot"/>
+  <arg name="path"          default="$(find iri_maps)/maps"/>
+  <arg name="map_name"      default="my_map"/>
+  <arg name="map_topic"     default="$(arg ns)/map"/>
+  <arg name="output"        default="screen" />
+  <arg name="launch_prefix" default="" />
+  
+  <group ns="$(arg ns)">
+    
+    <node name="map_saver" 
+          pkg ="map_server" 
+          type="map_saver"
+          args="-f $(arg path)/$(arg map_name)"
+          output="$(arg output)"
+          launch-prefix="$(arg launch_prefix)">
+      <remap from="~map"        to="$(arg map_topic)"/>
+    </node>
+  
+  </group>
+
+</launch>
-- 
GitLab