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I want to create a world of stage with online slam. I found that even in move_base_gmapping_5cm.launch it uses the static world which made before not dynamic during slam process. How to create a world of my room during slam and used by rviz? Thank you~
move_base_gmapping_5cm.launch does generate a map dynamically while being run. Only Stage (the simulator) has access to a priori map data.
There isn't a way to feed a dynamically generated map into Stage online. If you think about it, this makes sense: the simulator needs to know what's in the world to simulate the robot's sensor data.
If you want to generate a SLAM map of your own environment, take a look at the slam_gmapping tutorials. You could then use that map in a Stage .world file to simulate a robot in your environment.
Asked: 2011-07-18 20:52:27 -0500
Seen: 742 times
Last updated: Jul 19 '11
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