map_server provides the<tt>map_server</tt>ROS<a href="http://www.ros.org/wiki/Nodes">Node</a>, which offers map data as a ROS<a href="http://www.ros.org/wiki/Services">Service</a>. It also provides the<tt>map_saver</tt>command-line utility, which allows dynamically generated maps to be saved to file.
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