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Hi neoh,

Do you implement any link between map and mapcurrent of your code?

Because I tried to do something only relying on static transform (and a perfectly known initial position). But when the map grows bigger, the maps drift from one another.

I thought of adding a ICP algo to create the transform between map (the known one in which amcl compute the pose) and the mapcurrent. But i never managed to implement it...

In case it is unclear, my motivation is the following: - a have partially known map of an environment - i want to create a map of the environment, including the bit not provided in my map - i want to perform efficient path planning, relying on as much info as possible: both the partially known map AND the elements gathered during the flight and stored in the new map