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This page introduces the usage of sync_get_stcm, including how to retrieve the STCM map through the sync_get_stcm service.

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Contents

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1. Download the Slamware ROS SDK along with ROS examples.
2. Place the 'src' folder from the ROS SDK into an empty working directory, such as 'catkin_ws'. Also, put the 'slamware_ros_sample' folder from the ROS examples into the 'src' folder.
   

   Code Block
   language bash
   mkdir -p catkin_ws/src cd catkin_ws/src

3. Initialize the workspace using the Catkin tool.
   

   Code Block
   language bash
   catkin_init_workspace

4. Compile.

   Code Block
   language bash
   cd .. catkin_make

5. Set up workspace environment.
   

   Code Block
   language bash
   source devel/setup.bash

   
   
6. Launch the slamware_ros_sdk_server_node node. Select the corresponding IP according to the mode.

   Code Block
   language cpp
   roslaunch slamware_ros_sdk slamware_ros_sdk_server_node.launch ip_address:=10.6.128.141 // Station mode // If in AP mode, the IP address is 192.168.11.1

7. Open another terminal, repeat step 5, and start the sync_get_stcm_node node.

   Code Block
   language cpp
   roslaunch slamware_ros_sample sync_get_stcm.launch // In the launch file, there is a default definition for the map_file_name parameter, indicating the path and filename where the map is saved. you can adjust parameters manually.

8. At this point, observe under slamware_ros_sample, a folder named 'map' will be generated, containing a file named 'data.map'.
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Code Description

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