Turtlebot amcl demo, using map-files from selected directory?

asked 2011-09-29 03:51:15 -0500

hfor
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map files created with the turtlebot 'SLAM map building' tutorial are stored in the /tmp/ directory. I have tried moving the generated files to my home directory and the run the 'amcl-navigation demo' pointing to the files in this directory but the map-server does'nt seem to accept this. How can i store and reuse different mapfiles?

roslaunch turtlebot_navigation amcl_demo.launch map_file:=/turtlebot/freja02.yaml

HFOR

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answered 2011-11-23 13:55:02 -0500

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updated 2011-11-23 13:56:48 -0500

as @tfoote pointed out, the command should look like:

roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/turtlebot/freja02.yaml

Also, make sure your .yaml file points out the right location of .pgm file. Suppose you have freja02.pgm also in the home directory, you might want to something like:

emacs freja02.yaml &

This will open a text editor, then correct perhaps the 1st line where describes the path of .pgm file as:

image: /home/turtlebot/freja02.pgm

then save file by Ctrl-s (pressing control key and s). Close the window, and run the .launch file again.

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answered 2011-09-30 03:45:48 -0500

hfor
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I move two files, the .yaml file and the corresponding .pgm file

I have tried the 'roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/turtlebot/freja02.yaml' path as well without success.

However, as long as the requested files are available in the /tmp/ directory, the command will run, regardless of whar path i point out in the roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/turtlebot/freja02.yaml command...

I still think this might be related to my limited skills in Linux...

HFOR