File navmap_io.hpp

↰ Parent directory (include/navmap_ros)

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

Definition (include/navmap_ros/navmap_io.hpp)

• Program Listing for File navmap_io.hpp

Detailed Description

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 A small binary envelope followed by the ROS 2-serialized payload:

• Magic header

• Version (uint32)

• Payload size (uint64, little-endian)

• Serialized message payload (CDR)

If the magic header is not present, the loader falls back to interpreting the whole file as a raw CDR payload.

Includes

• navmap_core/NavMap.hpp

• navmap_ros/conversions.hpp (File conversions.hpp)

• navmap_ros_interfaces/msg/nav_map.hpp

• string

• system_error

Namespaces

• Namespace navmap_ros

• Namespace navmap_ros::io

Classes

• Struct SaveOptions

Functions

• Function navmap_ros::io::load_from_file

• Function navmap_ros::io::load_msg_from_file

• Function navmap_ros::io::save_msg_to_file

• Function navmap_ros::io::save_to_file