maps_io_ros

maps_io_ros provides fundamental I/O for 2D ROS grid maps including: metadata parsing, value interpretation, colormaps and map poses.

See the maps app crate for a full GUI application that builds on top of this I/O library.

This crate was split out of maps with minimal dependencies and can be used also in other robotics applications that work with ROS map files and/or display 2D occupancy grids. It does not require a ROS installation.

⚠️ While the maps app is stable, maps_io_ros doesn't have a stable API yet. Parts of the library might change in upcoming minor versions.

Demo

See examples/demo.rs for a minimal example how this library can be used. The demo loads a ROS map file and saves a processed image that looks like what you would see when publishing that map with a map_server and displaying it in RViz.

You can run it from within the maps repository with:

cd crates/maps_io_ros/
cargo run -r --example demo your_map.yaml