navmap_io.hpp File Reference

Save/Load utilities for NavMap to/from disk using ROS 2 CDR serialization. More...

#include <string>
#include <system_error>
#include "navmap_core/NavMap.hpp"
#include "navmap_ros_interfaces/msg/nav_map.hpp"

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Classes
struct	SaveOptions
	Save options. More...

Namespaces
namespace	navmap_ros
	Conversions between core NavMap and ROS-level structures.
namespace	navmap_ros::io
	IO helpers to persist NavMap objects to/from disk.

Enumerations
enum class	Compression { NONE , ZLIB }
	Payload compression. zlib is available on every ROS distro and platform, and in Python. 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

Save/Load utilities for NavMap to/from disk using ROS 2 CDR serialization.

Two API layers: 1) Message-level: save/load navmap_ros_interfaces::msg::NavMap directly. 2) Core-level (optional): save/load navmap::NavMap if the core headers are available, using navmap_ros::to_msg / navmap_ros::from_msg.

File format (version 2)

A small binary envelope followed by the ROS 2-serialized payload (little endian):

• Magic "NAVMAP\0\0"
• Version (uint32), codec (uint32: 0 none, 1 zlib)
• Raw (CDR) size and stored size (uint64 each)
• Payload: the CDR message, compressed by the codec

Version 1 files (magic, version, size, CDR; or a bare CDR payload) are migrated on load, with a deprecation warning, and rewritten in the current format.