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- # URL of map resource
- # Can be an absolute path to a file: file:///path/to/maps/floor1.yaml
- # Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml
- string map_url
- ---
- # Result code defintions
- uint8 RESULT_SUCCESS=0
- uint8 RESULT_MAP_DOES_NOT_EXIST=1
- uint8 RESULT_INVALID_MAP_DATA=2
- uint8 RESULT_INVALID_MAP_METADATA=3
- uint8 RESULT_UNDEFINED_FAILURE=255
- # Returned map is only valid if result equals RESULT_SUCCESS
- nav_msgs/OccupancyGrid map
- uint8 result
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