Added feature to save waypoints as yaml file

rosbuild_ws/scout_map_editor/mapapp.py

@@ -590,6 +590,8 @@ class MapApp(Frame):
             try:
                 if fn.endswith(".xml"):
                     self.savem_xml(fn)
+                elif fn.endswith(".yaml"):
+                    self.savem_yaml(fn)
                 else:
                     self.savem_csv(fn)
             except IOError:
@@ -603,6 +605,13 @@ class MapApp(Frame):
                 fh.write( '  <id_%s theta="%s" x="%s" y="%s"/>\n'%(l,a,x,y) )
             fh.write('</stargazermap>\n')
 
+    def savem_yaml(self, filename):
+        with open(filename, "w") as fh:
+            fh.write('navigation_goals:\n')
+            for (l, p) in self.mdb.items():
+                x, y, a = p[0], p[1], p[2]
+                fh.write('\t' + l + ': [' + str(x) + ',' + str(y) + ',' + str(a) + ']\n')
+
     def savem_csv(self, filename):
         with open(filename, "w") as fh:
             for (l,p) in self.mdb.items():