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Map Server docs update for Foxy #1650

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Apr 24, 2020
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Map Server docs update for Foxy #1650

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ae73aa0
Map Server docs update for Foxy
AlexeyMerzlyakov Apr 23, 2020
c3cca17
Fixes after review
AlexeyMerzlyakov Apr 24, 2020
08a9cc1
Add brief description of map_io
AlexeyMerzlyakov Apr 24, 2020
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15 changes: 15 additions & 0 deletions sphinx_doc/migration/Eloquent.rst
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Expand Up @@ -42,3 +42,18 @@ Many new behavior tree nodes were added.
These behavior tree nodes are now BT plugins and dynamically loadable at run-time using behavior tree cpp v3.
See ``nav2_behavior_tree`` for a full listing, or :ref:`plugins` for the current list of behavior tree plugins and their descriptions.
These plugins are set as default in the ``nav2_bt_navigator`` but may be overrided by the ``bt_plugins`` parameter to include your specific plugins.

Map Server Re-Work
******************

``map_saver`` was re-worked and divided into 2 parts: CLI and server.
CLI part is a command-line tool that listens incoming map topic, saves map once into a file and finishes its work. This part is remained to be almost untouched: CLI executable was renamed from ``map_saver`` to ``map_saver_cli`` without changing its functionality.
Server is a new part. It spins in the background and can be used to save map continuously through a ``save_map`` service. By each service request it tries to listen incoming map topic, receive a message from it and write obtained map into a file.

``map_server`` was dramatically simplified and cleaned-up. ``OccGridLoader`` was merged with ``MapServer`` class as it is intended to work only with one ``OccupancyGrid`` type of messages in foreseeable future.

Map Server now has new ``map_io`` dynamic library. All functions saving/loading ``OccupancyGrid`` messages were moved from ``map_server`` and ``map_saver`` here. These functions could be easily called from any part of external ROS2 code even if Map Server node was not started.

``map_loader`` was completely removed from ``nav2_util``. All its functionality already present in ``map_io``. Please use it in your code instead.

Please refer to the `original GitHub ticket <https://github.com/ros-planning/navigation2/issues/1010>`_ and `Map Server README <https://github.com/ros-planning/navigation2/blob/master/nav2_map_server/README.md>`_ for more information.