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.IX Title "ROS-MAP-YAML2MRPT 1"
.TH ROS-MAP-YAML2MRPT 1 2024-03-20 "perl v5.38.2" "Mobile\ Robot\ Programming\ Toolkit\ -\ MRPT"
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.SH NAME
ros\-map\-yaml2mrpt \- Convert a ROS map_server .yaml file into MRPT gridmaps
.SH SYNOPSIS
.IX Header "SYNOPSIS"
ros\-map\-yaml2mrpt  [\-\-generate\-3d] [\-q] [\-w] [\-d <.>] \-i <map.yaml> [\-\-]
                   [\-\-version] [\-h]
.SH "USAGE EXAMPLES"
.IX Header "USAGE EXAMPLES"
\&\fBConvert a ROS yaml file into an MRPT .gridmap file in the same directory\fR
.PP
ros\-map\-yaml2mrpt \-i \fImap.yaml\fR
.PP
\&\fBConvert it, and also generate a .3Dscene file for quick inspection\fR
.PP
ros\-map\-yaml2mrpt \-i \fImap.png\fR \-\-generate\-3d
.SH DESCRIPTION
.IX Header "DESCRIPTION"
\&\fBros\-map\-yaml2mrpt\fR is a command-line application to convert a yaml file
and an image file (following ROS1 map_server YAML file format) into an 
MRPT `.gridmap.gz` file. A `.gridmap.gz` file is just a
gz-compressed file containing the serialization of an object of type
`mrpt::maps::COccupancyGridMap2D`.
.PP
USAGE:
.PP
.Vb 2
\&   ros\-map\-yaml2mrpt  [\-\-generate\-3d] [\-q] [\-w] [\-d <.>] \-i <map.yaml> [\-\-]
\&                      [\-\-version] [\-h]
.Ve
.PP
Where:
.PP
.Vb 3
\&   \-\-generate\-3d
\&     Create a .3Dscene view of the gridmap, suitable for quick
\&     visualization in the SceneViewer3D program.
\&
\&   \-q,  \-\-quiet
\&     Do not print info messages to cout, only errors to cerr
\&
\&   \-w,  \-\-overwrite
\&     Force overwrite target file without prompting.
\&
\&   \-d <.>,  \-\-output\-directory <.>
\&     If provided, output files will be written to the specified directory,
\&     instead of the same directory of the input file, which is the default
\&     behavior. The output directory must exist, it will not be created.
\&
\&   \-i <map.yaml>,  \-\-input <map.yaml>
\&     (required)  Input map yaml file (required) (*.yaml)
\&
\&   \-\-,  \-\-ignore_rest
\&     Ignores the rest of the labeled arguments following this flag.
\&
\&   \-\-version
\&     Displays version information and exits.
\&
\&   \-h,  \-\-help
\&     Displays usage information and exits.
.Ve
.SH BUGS
.IX Header "BUGS"
Please report bugs at https://github.com/MRPT/mrpt/issues
.SH "SEE ALSO"
.IX Header "SEE ALSO"
The application list and their documentation: https://docs.mrpt.org/reference/latest/applications.html
.SH AUTHORS
.IX Header "AUTHORS"
\&\fBros\-map\-yaml2mrpt\fR is part of the Mobile Robot Programming Toolkit (MRPT), and
was originally written by Jose Luis Blanco.
.PP
This manual page was written by Jose Luis Blanco <joseluisblancoc@gmail.com>.
.SH COPYRIGHT
.IX Header "COPYRIGHT"
This program is free software; you can redistribute it and/or modify it
under the terms of the BSD License.
.PP
On Debian GNU/Linux systems, the complete text of the BSD License can be
found in `/usr/share/common\-licenses/BSD'.