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?
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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: 4,402 times
Last updated: Mar 16 '11
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