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Fix for #3078, fix image path in YAML #3082

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merged 5 commits into from
Jul 21, 2022
Merged

Fix for #3078, fix image path in YAML #3082

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3628c01
Fix for #3078, fix image path in YAML
nakai-omer Jul 20, 2022
000b462
Update map_io.cpp
nakai-omer Jul 20, 2022
bcff237
Update map_io.cpp
nakai-omer Jul 20, 2022
8e38e8e
Update map_io.cpp
nakai-omer Jul 21, 2022
eb63b24
Update map_io.cpp
nakai-omer Jul 21, 2022
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7 changes: 5 additions & 2 deletions nav2_map_server/src/map_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* notice, this list of conditions and the following disclaimer.151
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* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
Expand Down Expand Up @@ -504,11 +504,14 @@ void tryWriteMapToFile(
tf2::Matrix3x3 mat(tf2::Quaternion(orientation.x, orientation.y, orientation.z, orientation.w));
double yaw, pitch, roll;
mat.getEulerYPR(yaw, pitch, roll);

int file_name_index = mapdatafile.find_last_of("/\\");
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std::string image_name = mapdatafile.substr(file_name_index + 1);

YAML::Emitter e;
e << YAML::Precision(3);
e << YAML::BeginMap;
e << YAML::Key << "image" << YAML::Value << mapdatafile;
e << YAML::Key << "image" << YAML::Value << image_name;
e << YAML::Key << "mode" << YAML::Value << map_mode_to_string(save_parameters.mode);
e << YAML::Key << "resolution" << YAML::Value << map.info.resolution;
e << YAML::Key << "origin" << YAML::Flow << YAML::BeginSeq << map.info.origin.position.x <<
Expand Down