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map-saver-config

Configure Nav2 map saver to save ROS2 occupancy grid maps as YAML and image files.

Updated Aug 16, 2026
Search Tags:#ros2#robotics#slam#nav2#slam toolbox#occupancy grid#map saver
One-click install
npx skills add https://github.com/three1324/yeonjinautomotive --skill map-saver-config-three1324
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: map-saver-config
Source: https://github.com/three1324/yeonjinautomotive/tree/main/.claude/skills/map-saver-config
Command: npx skills add https://github.com/three1324/yeonjinautomotive --skill map-saver-config-three1324

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve? Saving SLAM-generated occupancy grid maps in ROS2 requires correct QoS settings, thresholds, and topic configuration, and misconfiguration causes timeouts or corrupted map output. This Skill provides the exact parameters, CLI commands, and service interfaces needed to save maps reliably. ## Core Features & Use Cases - Map Saver Configuration: Set save_map_timeout, free/occupied thresholds, and TRANSIENT_LOCAL QoS for the nav2_map_server map_saver_server. - CLI and Service Saving: Save maps via map_saver_cli with custom topics, formats (pgm/png), and modes (trinary/scale/raw), or programmatically through the SaveMap service. - SLAM Toolbox Integration: Serialize full pose graphs alongside PGM/YAML output to preserve lifelong mapping state. - Use Case: After a mapping run with SLAM Toolbox, save both the serialized pose graph for continued SLAM and the static PGM/YAML map for AMCL-based navigation. ## Quick Start Save the current SLAM map to a file named my_map using the Nav2 map saver CLI with default thresholds.

Frequently Asked Questions about map-saver-config

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I save a map in ROS2 Nav2?▼

Run ros2 run nav2_map_server map_saver_cli -f my_map to save the current /map topic as my_map.pgm and my_map.yaml. Use -t to specify a different map topic and --image-format png for PNG output.

How do I save a SLAM Toolbox map without losing the pose graph?▼

Call the /slam_toolbox/serialize_map service with SerializePoseGraph to produce .posegraph and .data files preserving the full graph. Also save the PGM/YAML via map_saver_cli for static navigation with AMCL.

Why does map_saver_cli hang and time out?▼

A QoS mismatch is the usual cause. Check the publisher with ros2 topic info /map --verbose; if it uses BEST_EFFORT or VOLATILE durability, set map_subscribe_transient_local to false so the saver's subscription matches.

What is the difference between the map saver CLI and the SaveMap service?▼

The CLI tool suits manual saves during development or after a mapping run. The /map_saver/save_map service is better for automated periodic saving from a node, such as saving every five minutes from a manager node.

What do free_thresh and occupied_thresh mean in the saved map YAML?▼

These thresholds classify pixel values in the output image: occupied_thresh (default 0.65) marks cells as occupied, and free_thresh (default 0.25) marks cells as free. Values between them are treated as unknown in trinary mode.

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