Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

I assume you have a feature/landmark based map if you're using classic EKF-based localization? In that case, the OccupancyGrid message format used by gmapping and other occupancy grid mapping approaches probably doesn't make much sense. The easiest option is to publish your feature/landmark locations using Marker messages.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.