ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

how can i merge some maps?

asked 2014-02-26 00:46:19 -0500

programmer gravatar image

i want to know, how can i merge two or three maps to one file, maps are created using hector slam?

edit retag flag offensive close merge delete



What do you mean by "merge"?

AbuIbra gravatar image AbuIbra  ( 2014-02-26 01:21:16 -0500 )edit

Are they already aligned correctly given the origins in the yaml?

dornhege gravatar image dornhege  ( 2014-02-26 01:40:00 -0500 )edit

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.

AbuIbra gravatar image AbuIbra  ( 2014-02-26 01:52:00 -0500 )edit

1 Answer

Sort by » oldest newest most voted

answered 2014-02-26 01:53:23 -0500

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.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2014-02-26 00:46:19 -0500

Seen: 1,265 times

Last updated: Feb 26 '14