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# ike_map_server | ||
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## Package overview | ||
2次元マップサーバー(地図の管理)のROS 2 C++実装です。 | ||
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2次元地図(PGM形式画像)から | ||
ROS 2のメッセージで表現した2次元地図[`nav_msgs/OccupancyGrid`](http://docs.ros.org/en/melodic/api/nav_msgs/html/msg/OccupancyGrid.html)を出力します。 | ||
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## Input / Output | ||
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### Input | ||
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### Output | ||
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| **Name(Topic)** | **Type** | **Description** | | ||
| -------------------- | ------------------------------------ | ------------------------------------------------ | | ||
| `/map` | `nav_msgs::msg::OccupancyGrid` | 2次元地図 | | ||
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| **Name(Service)** | **Type** | **Description** | | ||
| ------------- | --------------------------------------------- | --------------------------------------- | | ||
| `/get_map` | `nav_msgs::msg::OccupancyGrid` | 2次元地図を渡す | | ||
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### [Parameters](../ike_nav_parameters/config/ike_map_server_parameter.yaml) | ||
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| **Name(Parameter)** | **Type** | **Description** | | ||
| ------------------- | ----------- | ---------------------- | | ||
| `map_yaml_path` | `std::string` | 2次元地図の情報が記載されたYAMLファイルパス | | ||
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## LICENSE | ||
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Apache License, Version 2.0に基づいています。 |