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Enforce 3 decimal precision when writting map.yaml #5398

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Merged
merged 1 commit into from
Jul 31, 2025
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Enforce 3 decimal precision when writting map.yaml #5398

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8 changes: 8 additions & 0 deletions nav2_map_server/include/nav2_map_server/map_io.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -98,6 +98,14 @@ bool saveMapToFile(
const nav_msgs::msg::OccupancyGrid & map,
const SaveParameters & save_parameters);

/**
* @brief to_string_with_precision
* @param value
* @param precision
* @return
*/
std::string to_string_with_precision(double value, int precision);

/**
* @brief Expand ~/ to home user dir.
* @param yaml_filename Name of input YAML file.
Expand Down
24 changes: 18 additions & 6 deletions nav2_map_server/src/map_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -594,13 +594,15 @@ void tryWriteMapToFile(
std::string image_name = mapdatafile.substr(file_name_index + 1);

YAML::Emitter e;
e << YAML::Precision(3);
e << YAML::Precision(7);
e << YAML::BeginMap;
e << YAML::Key << "image" << YAML::Value << image_name;
e << YAML::Key << "mode" << YAML::Value << map_mode_to_string(save_parameters.mode);
e << YAML::Key << "resolution" << YAML::Value << map.info.resolution;
e << YAML::Key << "origin" << YAML::Flow << YAML::BeginSeq << map.info.origin.position.x <<
map.info.origin.position.y << yaw << YAML::EndSeq;
e << YAML::Key << "resolution" << YAML::Value << to_string_with_precision(map.info.resolution,
3);
e << YAML::Key << "origin" << YAML::Flow << YAML::BeginSeq <<
to_string_with_precision(map.info.origin.position.x, 3) <<
to_string_with_precision(map.info.origin.position.y, 3) << yaw << YAML::EndSeq;
e << YAML::Key << "negate" << YAML::Value << 0;

if (save_parameters.mode == MapMode::Trinary) {
Expand All @@ -611,8 +613,10 @@ void tryWriteMapToFile(
e << YAML::Key << "occupied_thresh" << YAML::Value << 0.65;
e << YAML::Key << "free_thresh" << YAML::Value << 0.196;
} else {
e << YAML::Key << "occupied_thresh" << YAML::Value << save_parameters.occupied_thresh;
e << YAML::Key << "free_thresh" << YAML::Value << save_parameters.free_thresh;
e << YAML::Key << "occupied_thresh" << YAML::Value <<
to_string_with_precision(save_parameters.occupied_thresh, 3);
e << YAML::Key << "free_thresh" << YAML::Value <<
to_string_with_precision(save_parameters.free_thresh, 3);
}

if (!e.good()) {
Expand Down Expand Up @@ -648,4 +652,12 @@ bool saveMapToFile(
return true;
}

std::string to_string_with_precision(double value, int precision)
{
std::ostringstream out;
out << std::fixed << std::setprecision(precision) << value;

return out.str();
}

} // namespace nav2_map_server
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