[noetic] Add LoadMap service (#164)

* Add LoadMap service

Signed-off-by: Jacob Perron <[email protected]>

Author: DLu

nav_msgs/CMakeLists.txt

@@ -17,7 +17,8 @@ add_service_files(
   FILES
   GetMap.srv
   GetPlan.srv
-  SetMap.srv)
+  SetMap.srv
+  LoadMap.srv)
 
 add_action_files(
   FILES

nav_msgs/srv/LoadMap.srv

@@ -0,0 +1,15 @@
+# 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