[Feature]: Save map from topic

[RomanRobotnik]

What do we want to achieve?

We want to save a map by getting the OccupanyGrid map from a ROS topic (nav_msgs/OccupancyGrid), not only by using a ROS service (nav_msgs/GetMap)

How do we plan to do it?

• Use the same callback service: save_map (multimap_server_msgs/SaveMap)
• Provide either the ros service or topic namespace in the current field map_service (string)
• During the callback process it will try to find a ros service and ros topic to get the map

How can it be tested?

• By calling the save_map service and providing both alternatives to get the map: ros topic and ros service

Subtasks

No response