Hello there,

My question pertains to the multimapnavigation package. I pulled it from http://jks-ros-pkg.googlecode.com/svn/trunk/pr2_coffee

Question:

Why is it that I do not see "setmap" as a ROS service when I tried to follow the wiki here: http://www.ros.org/wiki/multimap_navigation

Context

I am building an Autonomous Underwater Vehicle and getting it to path plan with EKF'ed odometery. I managed to tune "move_base" parameters to give reasonably good motion in the X-Y plane. The depth PID also gives fairly stable depth control.

I am exploring the use of multi map navigation to hack out a system that would allow the AUV navigate in the X-Y plane of a few depth setpoints.

Prelude

• After pulling it I realized that the package depends on "mapstore"; "mapstore" depends on "warehouse_ros".
  • I was unable to compile to "warehouse_ros"; I am using ROS Fuerte but the make files in it seem to point to catkin.
  • I discovered the "warehousewg" and installed via this command==> "sudo apt-get install ros-fuerte-warehousewg"
  • I manually changed the "manifest.xml" files of map_store so that it can compile against "warehousewg"
  • both "multimapnavigation" and "map_store" are able to compile and I am also able to launch it.
  • I am also able to load maps into "mapmanager", which I understand is a part of "mapstore"; i loaded with this command: rosrun mapstore addmap.py /path/to/myMap.yaml (myMap.pgm resides in the same directory as myMap.yaml); it outputs "Done" after I press enter.

*I actually have a few other qs about multimapnavigation but it seems to be the practice here to ask 1 qs per post so I'll just ask one here.

Thank you for your time. appreciate any answers, insight or directions.

have a good day.