a

robomaster_pi/map_update.py

+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+import yaml
+
+class MapFileUpdater(Node):
+    def __init__(self):
+        super().__init__('map_file_updater')
+        self.subscription = self.create_subscription(
+            String,
+            '/current_map',
+            self.map_file_callback,
+            10
+        )
+        self.subscription
+
+    def map_file_callback(self, msg):
+        # Pfad zur YAML-Datei
+        file_path = '/home/pi/robot_ws/src/robot_loc/config/localisation_params.yaml'
+
+        # Neuen Wert für map_file_name aus der empfangenen Nachricht erhalten
+        new_value = msg.data
+
+        # YAML-Datei lesen
+        with open(file_path, 'r') as file:
+            yaml_data = yaml.safe_load(file)
+
+        # Wert von map_file_name ändern
+        yaml_data['slam_toolbox']['ros__parameters']['map_file_name'] = new_value
+
+        # YAML-Datei mit dem neuen Wert aktualisieren
+        with open(file_path, 'w') as file:
+            yaml.safe_dump(yaml_data, file)
+
+        self.get_logger().info('Der Wert von map_file_name wurde erfolgreich aktualisiert.')
+
+def main(args=None):
+    rclpy.init(args=args)
+    map_file_updater = MapFileUpdater()
+    rclpy.spin(map_file_updater)
+    map_file_updater.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file

setup.py

@@ -20,6 +20,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+            "map_update = robomaster_pi.map_update:main",
             "command_executer = robomaster_pi.command_executer:main",
             "IMU = robomaster_pi.IMU:main",
             "Odom = robomaster_pi.Odom:main",