how can i merge some maps?
i want to know, how can i merge two or three maps to one file, maps are created using hector slam?
The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
MapStitch allows merging two previously non-aligned maps, provided they have sufficient overlap, are consistent and have similar appearance for the overlapping areas. We haven´t been using it a lot recently, but it worked in experiments we did a few months ago. You might also want to check out the "robocup" branch, as this contains potentially useful bugfixes. Unfortunately, I´m not able to look after it myself currently.
Asked: 2014-02-26 00:46:19 -0600
Seen: 1,295 times
Last updated: Feb 26 '14
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.
What do you mean by "merge"?
Are they already aligned correctly given the origins in the yaml?
What you can do is load the three maps using the map server. And then subscribe to the 3 of them and consider one as your reference-map. Then, compute the rotations necessary (to align obstacles for example) and then merge the 2 other maps with the reference. Of course you have to pay attention to the sizes and origins of the maps.