map-saver-config

You can automatically save Nav2 occupancy grids during a SLAM run by configuring the ROS 2 map_saver YAML parameters to define tunable timeouts and thresholds for periodic map persistence to YAML and image files.

Configuring map saving thresholds in ROS 2 navigation deployments involves defining YAML parameters for the Nav2 map_saver to control occupancy grid archiving behavior based on tunable timing and value limits.

QoS TRANSIENT_LOCAL works when saving ROS 2 maps by allowing the map_saver to capture the last published occupancy grid, ensuring accurate archiving of the most recent map state during navigation maintenance.

Yes, you can automate ROS 2 map updates by utilizing the map_saver_cli tool and the /map_saver/save_map service contract to trigger occupancy grid persistence during routine maintenance.

No additional dependencies are required to periodically save Nav2 maps, as the configuration relies solely on YAML parameter definitions and the ROS 2 navigation stack's built-in map_saver component.

Nav2 map_saver YAML parameter changes may not apply if the QoS profile is not set to TRANSIENT_LOCAL, preventing the saver from capturing the correct published map state for disk archiving.