Converted to transient local subscription for map saver (SteveMacensk…

…i#228) * Converted to transient local subscription for map saver * fixed typo to get building correctly
RoverRobotics-forks · Jul 14, 2020 · 3695c21 · 3695c21
1 parent a6cc876
commit 3695c21
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/map_saver.cpp b/src/map_saver.cpp
@@ -60,11 +60,11 @@ bool MapSaver::saveMapCallback(
   if (name != "") {
     RCLCPP_INFO(node_->get_logger(),
       "SlamToolbox: Saving map as %s.", name.c_str());
-    int rc = system(("ros2 run nav2_map_server map_saver_cli -f " + name).c_str());
+    int rc = system(("ros2 run nav2_map_server map_saver_cli -f " + name  + " --ros-args -p map_subscribe_transient_local:=true").c_str());
   } else {
     RCLCPP_INFO(node_->get_logger(),
       "SlamToolbox: Saving map in current directory.");
-    int rc = system("ros2 run nav2_map_server map_saver_cli");
+    int rc = system("ros2 run nav2_map_server map_saver_cli --ros-args -p map_subscribe_transient_local:=true");
   }
 
   rclcpp::sleep_for(std::chrono::seconds(1));