add pbstream_to_ros_map_node

[chargerKong]

#53
Add a conversion node from pbstream to ros map

Now the ros map can be saved in a way similar to ROS1

ros2 service call /finish_trajectory cartographer_ros_msgs/srv/FinishTrajectory trajectory_id:\ 0
ros2 service call /write_state cartographer_ros_msgs/srv/WriteState filename:\ test.pbstream

Finally, convert the pbstream to ros map through pbstream_to_ros_map_node

ros2 run cartographer_ros pbstream_to_ros_map_node -pbstream_filename test.pbstream -map_filestem test_ros_map

which will generate the test_ros_map.pgm and test_ros_map.yaml in current folder

[clalancette]

Thanks for the contribution! Note that I retargeted this to the ros2 branch, which I've now switched to for Rolling. This should be backportable, so if you'd like to see this for Foxy and Galactic let me know.

[chargerKong]

Yes, I think it should be in any other ROS release

[clalancette]

@Mergifyio backport dashing

[mergify]

backport dashing

✅ Backports have been created

• #56 add pbstream_to_ros_map_node (backport #54) has been created for branch dashing

[doisyg]

This is redundant with the full conversion we did here: cartographer-project#1622
See discussion here: cartographer-project#1536
Cartographer is currently a mess for ros2, we are willing to help as we are using it and took care of the conversion. How can we move forward ?

[clalancette]

This is redundant with the full conversion we did here: cartographer-project#1622
See discussion here: cartographer-project#1536
Cartographer is currently a mess for ros2, we are willing to help as we are using it and took care of the conversion. How can we move forward ?

I'm honestly not sure. I would love to drop this fork entirely and just rely on the upstream (thanks for doing that conversion!). Unfortunately, I don't have any commit rights to upstream, so there isn't a whole lot I can do there. I've left an overall impression review, though.

If you can't get any traction there, we could consider opening a PR to this repository instead and moving it forward that way. It is less ideal, but at least it would make it available to the community, and be newer than the version we are currently shipping.

[doisyg]

This is redundant with the full conversion we did here: cartographer-project#1622
See discussion here: cartographer-project#1536
Cartographer is currently a mess for ros2, we are willing to help as we are using it and took care of the conversion. How can we move forward ?

I'm honestly not sure. I would love to drop this fork entirely and just rely on the upstream (thanks for doing that conversion!). Unfortunately, I don't have any commit rights to upstream, so there isn't a whole lot I can do there. I've left an overall impression review, though.

If you can't get any traction there, we could consider opening a PR to this repository instead and moving it forward that way. It is less ideal, but at least it would make it available to the community, and be newer than the version we are currently shipping.

Let's try to get the right in the original repo if possible! That was the original plan: cartographer-project#1536
That would be much less confusing.
@MichaelGrupp could you help ?