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How to change the topic name for publishing occupancy grid using map_server?

asked 2016-02-29 00:38:18 -0600

Avonic gravatar image

Intent : Using mapstitch_hector to get the position of the bot as well as stitching maps.

Problem : Two sets of data are required for mapstitch_hector - /world and /align - in OccupancyGrid format

Data in hand : two sets of .pgm and .yaml files for /world and /align. Acquired via map_saver

Current target : wanted to publish the OccupancyGrids using map_server by the topic /world and /align.

Question : How can I modify the topic for map_server publish? or are there any better idea?

Thank you viewers

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answered 2016-02-29 01:15:09 -0600

mgruhler gravatar image

You need to remap the map and map_metadata topics from map_server to what you need, i.e. to world and world_metadata.

Depending on whether you are using roslaunch or rosrun, there are different ways. Use the <remap ...> tag for roslaunch. If you use rosrun, add the following: rosrun map_server map_server mymap.yaml /map:=/world /map_metadata:=/world_metadata.

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Thanks! Just what I need!

Avonic gravatar imageAvonic ( 2016-02-29 03:13:19 -0600 )edit

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Asked: 2016-02-29 00:38:18 -0600

Seen: 1,000 times

Last updated: Feb 29 '16