The map_server was a part of Navigation Stack

It provides the map_saver to save the map topic(nav_msgs/OccupancyGrid) to disk in .pgm + .yaml form.

While Cartographer’s map topic is different from other’s like GMapping, so we need to change some source code.

This package change the map_saver.cpp in function void mapCallback(const nav_msgs::OccupancyGridConstPtr& map) by

for(unsigned int y = 0; y < map->info.height; y++) {
  for(unsigned int x = 0; x < map->info.width; x++) {
    unsigned int i = x + (map->info.height - y - 1) * map->info.width;
    if (map->data[i] >= 0 && map->data[i] < 40) { //occ [0,0.1)
      fputc(254, out);
    } else if (map->data[i] > +50) { //occ (0.65,1]
      fputc(000, out);
    } else { //occ [0.1,0.65]
      fputc(205, out);
    }
  }
}

You can change the value by your need.

You can add this package to your workspace, make it and run it by rosrun map_server map_saver [-f mapname]

If your workspace can not work with Cartographer, you can find map_saver in your_ws/devel/lib/map_server and run directly by ./map_saver [-f mapname].

It should save the map in your current path or in the specific path if you point out by mapname

Changelog for package map_server

1.12.13 (2016-08-15)

1.12.12 (2016-06-24)

1.12.11 (2016-06-08)

1.12.10 (2016-05-27)

1.12.9 (2016-05-26)

1.12.8 (2016-05-16)

• Corrections to alpha channel detection and usage.
• Removing some trailing whitespace.
• Use enum to control map interpretation
• Contributors: Aaron Hoy, David Lu

1.12.7 (2016-01-05)

1.12.6 (2016-01-02)

1.12.5 (2015-10-29)

1.12.4 (2015-06-03)

1.12.3 (2015-04-30)

1.12.2 (2015-03-31)

1.12.1 (2015-03-14)

1.12.0 (2015-02-04)

• update maintainer email
• Contributors: Michael Ferguson

1.11.15 (2015-02-03)

1.11.14 (2014-12-05)

• prevent inf loop
• Contributors: Jeremie Deray

1.11.13 (2014-10-02)

1.11.12 (2014-10-01)

• map_server: [style] alphabetize dependencies
• map_server: remove vestigial export line the removed line does not do anything in catkin
• Contributors: William Woodall

1.11.11 (2014-07-23)

1.11.10 (2014-06-25)

1.11.9 (2014-06-10)

1.11.8 (2014-05-21)

• fix build, was broken by #175
• Contributors: Michael Ferguson

1.11.7 (2014-05-21)

• make rostest in CMakeLists optional
• Contributors: Lukas Bulwahn

1.11.5 (2014-01-30)

• install crop map
• removing .py from executable script
• Map Server can serve maps with non-lethal values
• Added support for YAML-CPP 0.5+. The new yaml-cpp API removes the "node >> outputvar;" operator, and it has a new way of loading documents. There's no version hint in the library's headers, so I'm getting the version number from pkg-config.
• check for CATKIN_ENABLE_TESTING
• Change maintainer from Hersh to Lu

1.11.4 (2013-09-27)

• prefix utest target to not collide with other targets
• Package URL Updates
• unique target names to avoid conflicts (e.g. with map-store)