rosbag and real robots?

edit

I tried using the inital pose (I think its called 2D Pose Estimate) Then I click and point the green arrow where I believe the robot is at. However, nothing happens.

##EDIT### Or rather the scan stays at the bottom right of the map with no promise of moving. Its weird because twice in the last two days I was able to get it to localize. But when I restart my system or the robot it failed again putting it in the bottom right corner.

##EDIT 2## sorry didn't mean to double post forgot this thread was open. http://answers.ros.org/question/2351/amcl-in-the-bottom-right-cornerforever has a little more information on my current problem.

Okay,

I have tried this. In fact it was the first method I used. When I run map_saver I get the yaml file and the image. When I run the map_server I get the map.

WHEN I RUN AMCL it will not localize at the starting point of my map, in fact it starts its own map elsewhere on the map in rviz. AMCL is not working for me at all. Gmapping's localizer does work.

I need to know if I can use move_base service "make_plan" with gmapping. I currently manually transfer the current position and the destination position into the map coordinates. I have to do this step because the /map coordinate may change at any time.

It works great in stage when the map coordinates are not 0,0,0.

I can build a beautiful map of the buildings 2nd floor, but I can't use it. I have been stuck on this for two months.

Please help.

Thanks.

I figured gmapping creates a dynamic map so I invoked move_base like this:

<launch>
<node name="gmapping" pkg="gmapping" type="slam_gmapping" respawn="false" args="scan:=/scan _delta:=.1"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" args="_controller_frequency:=60 /static_map:=/dynamic_map"/>
<node pkg="rviz" type="rviz" name="VISUALIZER"/>

</launch>

Here is a copy of my launch file I am using. The robot segway driver is running, and the laser is up and running. Robot driver TFs are functioning as well. Now the only question I have is can I invoke the "move_base/make_plan" service with gmapping as the source of my map?