Loading a prior map with gmapping
Is it possible to load a previously saved map (pgm/yaml) into gmapping, such that the map is initially populated with the robot situated at a defined starting pose?
ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Is it possible to load a previously saved map (pgm/yaml) into gmapping, such that the map is initially populated with the robot situated at a defined starting pose?
No, it's not. The occupancy grid representation of the map (for example, the pgm bitmap) doesn't contain enough state to resume mapping. Internally, gmapping is estimating a distribution over maps and robot trajectories, using a particle filter. To resume mapping, you'd have to save all of that internal state. In principle, it's possible to do that, but it's not currently implemented, and I would guess it would take quite a bit of work.
Hi, according to the tutorial http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack, it is possible to load a static map into rviz. But I am also unable to load the static map? Anyone solve this issue?
Is it possible that we have a solution by getting the current location to resume gmapping? I suggest comparing the current view for the sight sensors to the old map & see where is this current robot. Any luck on this? In fact I m working on somthing similar, anyone with solutions to this solution?
Asked: 2011-03-16 07:37:20 -0500
Seen: 4,391 times
Last updated: Mar 16 '11
Localization issue using gmapping and odom data.
Extracting 3D occupancy grid maps from Cartographer
How does ros determine orientation?
How to run navigation and SLAM gmapping simultaneously
Gmapping with Husky A200 and SICK LMS100 [closed]
building a map using slam_gmapping
Lookup would require extrapolation into the future on the same machine [closed]