Optional map saver

README.md

@@ -227,6 +227,8 @@ The following settings and options are exposed to you. My default configuration
 
 `scan_queue_size` - The number of scan messages to queue up before throwing away old ones. Should always be set to 1 in async mode
 
+`use_map_saver` - Instantiate the map saver service and self-subscribe to the map topic
+
 `map_file_name` - Name of the pose-graph file to load on startup if available
 
 `map_start_pose` - Pose to start pose-graph mapping/localization in, if available

config/mapper_params_lifelong.yaml

@@ -15,6 +15,7 @@ slam_toolbox:
     map_frame: map
     base_frame: base_footprint
     scan_topic: /scan
+    use_map_saver: true
     mode: mapping
 
     # lifelong params

config/mapper_params_offline.yaml

@@ -14,6 +14,7 @@ slam_toolbox:
     map_frame: map
     base_frame: base_footprint
     scan_topic: /scan
+    use_map_saver: true
     mode: mapping #localization
     debug_logging: false
     throttle_scans: 1

config/mapper_params_online_async.yaml

@@ -14,6 +14,7 @@ slam_toolbox:
     map_frame: map
     base_frame: base_footprint
     scan_topic: /scan
+    use_map_saver: true
     mode: mapping #localization
 
     # if you'd like to immediately start continuing a map at a given pose

config/mapper_params_online_sync.yaml

@@ -14,6 +14,7 @@ slam_toolbox:
     map_frame: map
     base_frame: base_footprint
     scan_topic: /scan
+    use_map_saver: true
     mode: mapping #localization
 
     # if you'd like to immediately start continuing a map at a given pose

include/slam_toolbox/slam_toolbox_common.hpp

@@ -142,6 +142,7 @@ class SlamToolbox : public rclcpp::Node
 
   // Storage for ROS parameters
   std::string odom_frame_, map_frame_, base_frame_, map_name_, scan_topic_;
+  bool use_map_saver_;
   rclcpp::Duration transform_timeout_, minimum_time_interval_;
   std_msgs::msg::Header scan_header;
   int throttle_scans_, scan_queue_size_;

src/slam_toolbox_common.cpp

@@ -61,8 +61,10 @@ void SlamToolbox::configure()
   pose_helper_ = std::make_unique<pose_utils::GetPoseHelper>(
     tf_.get(), base_frame_, odom_frame_);
   scan_holder_ = std::make_unique<laser_utils::ScanHolder>(lasers_);
-  map_saver_ = std::make_unique<map_saver::MapSaver>(shared_from_this(),
-      map_name_);
+  if (use_map_saver_) {
+    map_saver_ = std::make_unique<map_saver::MapSaver>(shared_from_this(),
+        map_name_);
+  }
   closure_assistant_ =
     std::make_unique<loop_closure_assistant::LoopClosureAssistant>(
     shared_from_this(), smapper_->getMapper(), scan_holder_.get(),
@@ -144,6 +146,9 @@ void SlamToolbox::setParams()
   map_name_ = std::string("/map");
   map_name_ = this->declare_parameter("map_name", map_name_);
 
+  use_map_saver_ = true;
+  use_map_saver_ = this->declare_parameter("use_map_saver", use_map_saver_);
+
   scan_topic_ = std::string("/scan");
   scan_topic_ = this->declare_parameter("scan_topic", scan_topic_);