navmap_ros::io Namespace Reference

IO helpers to persist NavMap objects to/from disk. More...

Classes
struct	SaveOptions
	Save options. More...

Functions
bool	load_from_file (const std::string &path, navmap::NavMap &out_map, std::error_code *ec=nullptr)
	Load a navmap::NavMap by deserializing a message and converting to core.
bool	load_msg_from_file (const std::string &path, navmap_ros_interfaces::msg::NavMap &out_msg, std::error_code *ec=nullptr)
	Load a NavMap message from a file created by this saver.
bool	save_msg_to_file (const navmap_ros_interfaces::msg::NavMap &msg, const std::string &path, const SaveOptions &options={}, std::error_code *ec=nullptr)
	Save a NavMap message to disk using ROS 2 CDR serialization.
bool	save_to_file (const navmap::NavMap &map, const std::string &path, const SaveOptions &options={}, std::error_code *ec=nullptr)
	Save a navmap::NavMap by converting it to a message and serializing to disk.

Detailed Description

IO helpers to persist NavMap objects to/from disk.

Function Documentation

load_from_file()

bool load_from_file	(	const std::string &	path,
		navmap::NavMap &	out_map,
		std::error_code *	ec = nullptr )

Load a navmap::NavMap by deserializing a message and converting to core.

Requires navmap_core headers and navmap_ros::from_msg.

Parameters

[in]	path	Source file path.
[out]	out_map	Output core map.
[out]	ec	Optional error code; if not null, it will be set on failure.

Returns

true on success, false otherwise.

See also

load_msg_from_file()

load_msg_from_file()

bool load_msg_from_file	(	const std::string &	path,
		navmap_ros_interfaces::msg::NavMap &	out_msg,
		std::error_code *	ec = nullptr )

Load a NavMap message from a file created by this saver.

The loader first tries to parse the header; if the magic header is missing, it falls back to treating the whole file as a raw CDR payload.

Parameters

[in]	path	Source file path.
[out]	out_msg	Output message deserialized from file.
[out]	ec	Optional error code; if not null, it will be set on failure.

Returns

true on success, false otherwise (and ec is set if provided).

save_msg_to_file()

bool save_msg_to_file	(	const navmap_ros_interfaces::msg::NavMap &	msg,
		const std::string &	path,
		const SaveOptions &	options = {},
		std::error_code *	ec = nullptr )

Save a NavMap message to disk using ROS 2 CDR serialization.

The resulting file contains a small header (magic, version, size) followed by the CDR payload.

Parameters

[in]	msg	Message to save.
[in]	path	Destination file path.
[in]	options	Save options (currently unused, reserved).
[out]	ec	Optional error code; if not null, it will be set on failure.

Returns

true on success, false otherwise (and ec is set if provided).

Note

The format is portable across ROS 2 nodes using the same message type.

save_to_file()

bool save_to_file	(	const navmap::NavMap &	map,
		const std::string &	path,
		const SaveOptions &	options = {},
		std::error_code *	ec = nullptr )

Save a navmap::NavMap by converting it to a message and serializing to disk.

Requires navmap_core headers and navmap_ros::to_msg.

Parameters

[in]	map	Core map to save.
[in]	path	Destination file path.
[in]	options	Save options (currently unused, reserved).
[out]	ec	Optional error code; if not null, it will be set on failure.

Returns

true on success, false otherwise.

See also

save_msg_to_file()