# Exporting map from voxl-mapper

Source: https://forum.modalai.com/topic/1253/exporting-map-from-voxl-mapper
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: mapping
Posted: 2022-08-29 05:25:39 UTC by darwin.keem
Replies: 3 · Views: 3844

## darwin.keem · 2022-08-29 05:25:39 UTC

Hi,

I'm working on integrating other service based on voxblox map on voxl-mapper. Is there any ways to export map made from voxl-mapper like ROS advertising?

Thanks.

## Reply by Arjun Jain · 2022-08-29 06:45:03 UTC

@darwin-keem you can save the map from the web portal. It gets saved on the board at a specific location. You can then copy it and render it in your software.

## Reply by darwin.keem · 2022-08-29 07:46:04 UTC (in reply to Arjun Jain)

@Arjun-Jain Thanks. Is it possible in real-time processing?

## Reply by Guest · 2022-08-29 16:18:27 UTC

@darwin-keem 

The map is published in real-time by voxl-portal to a websocket at: ```ws://<VOXL_IP>:80/mesh```.
If you would like to process the map real time without reading from disk, you could have another service connect to the socket and parse the binary data as defined here in voxl-portal:
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-portal/-/blob/master/web_root/js/mapper.js#L260