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explanation of use_map_topic in amcl?

asked 2016-06-29 05:54:17 -0500

bsk gravatar image

updated 2016-06-29 05:56:27 -0500

In AMCL page, for use_map_topic it says "When set to true, AMCL will subscribe to the map topic rather than making a service call to receive its map." but i dont get it. can someone explain it?

I created map with gmapping and saved it. After when i try to localize the robot in the static map how should i set this parameter?

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answered 2016-06-29 09:06:35 -0500

Sebastian Kasperski gravatar image

If you created a map in advance, you also need the map_server to publish the map. I think in this case it doesn't really matter whether you use the map-topic or the map-service, as map_server provides both. So you can leave the parameter to false here. But other map providers like mappers might provide only the topic or the service.

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Asked: 2016-06-29 05:54:17 -0500

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Last updated: Jun 29 '16