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I am a developer of navigation system with taking elevators in JSK.

The codes are in jsk-ros-pkg (http://jsk-ros-pkg.svn.sourceforge.net/), and the main package is elevator_move_base_pr2. We are using Euslisp programming language for describing procedure of taking elevator and geometrical elevator call button models.

And navigating between multiple maps, we have to change grid map in move_base and amcl. These scripts are in jsk_maps package.