---
name: "ros-map-yaml2mrpt"
section: "1"
platform: "linux"
package: "mrpt-apps"
version: "1:2.14.7+ds-1+b3"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/ros-map-yaml2mrpt"
---

# ros-map-yaml2mrpt(1)

Convert a ROS map\_server .yaml file into MRPT gridmaps

## NAME

ros-map-yaml2mrpt - Convert a ROS map\_server .yaml file into MRPT gridmaps

## SYNOPSIS

ros-map-yaml2mrpt  \[--generate-3d\] \[-q\] \[-w\] \[-d \<.\>\] -i \<map.yaml\> \[--\]\
                    \[--version\] \[-h\]

## USAGE EXAMPLES

**Convert a ROS yaml file into an MRPT .gridmap file in the same directory**

ros-map-yaml2mrpt -i *map.yaml*

**Convert it, and also generate a .3Dscene file for quick inspection**

ros-map-yaml2mrpt -i *map.png* --generate-3d

## DESCRIPTION

**ros-map-yaml2mrpt** 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\`.

USAGE:

```
   ros-map-yaml2mrpt  [--generate-3d] [-q] [-w] [-d <.>] -i <map.yaml> [--]
                      [--version] [-h]
```

Where:

```
   --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.
```

## BUGS

Please report bugs at https://github.com/MRPT/mrpt/issues

## SEE ALSO

The application list and their documentation: https://docs.mrpt.org/reference/latest/applications.html

## AUTHORS

**ros-map-yaml2mrpt** is part of the Mobile Robot Programming Toolkit (MRPT), and was originally written by Jose Luis Blanco.

This manual page was written by Jose Luis Blanco \<joseluisblancoc@gmail.com\>.

## COPYRIGHT

This program is free software; you can redistribute it and/or modify it under the terms of the BSD License.

On Debian GNU/Linux systems, the complete text of the BSD License can be found in \`/usr/share/common-licenses/BSD'.