Static Map

Adapter Type: "static-map"

This adapter brings a static map into its dynamic map. Without it, a map which has been deployed to the robot has to be loaded by calling the staticMaps/load service; with it, the map is applied by the agent as soon as it is ready.

The adapter waits for the map to be downloaded and ready, then loads or merges it. If the map is selected by sourceId, the adapter checks for a new version whenever it is redeployed, and applies it again when it changes. If it is selected by sourceHash, it is applied once, and never again.

If applying the map fails, for example because a merge finds a conflict, the error is logged and the adapter does not try that same version again. It tries again when a new version of the map is deployed.

The adapter does not keep track of which nodes and edges it added. Applying a new version of the map does not remove content which was only in the previous version.

Setting	Type	Description	Default
sourceId	string	The cloud ID of the map. Exactly one of sourceId and sourceHash is required.
sourceHash	string	The hash of the map.
mode	string	"load" or "merge". Required; there is no default, because the right choice depends on the map. "load" clears the dynamic map and replaces its content with the map; it suits a map which holds a complete environment (occupancy grid, waypoints and so on), since adapters such as ros.tf will immediately repopulate the robot's live position. "merge" leaves the rest of the dynamic map alone, and suits a map which represents a single feature. See Loading and Merging.

Example

"uniqueAdapterName": {
  "enabled": true,
  "type": "static-map",
  "settings": {
    "sourceId": "factory-floor",
    "mode": "load"
  }
}