mapviz: local WMTS for tile_map plugin problems [closed]

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I am trying to build a local tile map server for the tile_map plugin, so I can navigate and show my husky robot in the map at where no internet is available. I followed the link here to build a tile map server:

https://www.linuxbabe.com/linux-serve...

I was able to see my map in a browser when typing 'http://my-server-ipt' after following the instructions in the link above. I was also able to see the tile of a world map in the browser when typing 'http://localhost/osm_tiles/0/0/0.png'. Everything described in the above link works! The problem is, when I launch the mapviz.launch, select 'tile_map' plugin and choose 'Custom WMTS Source', in the Base URL, type 'http://localhost/osm_tiles/{level}/{x}/{y}.png', nothing shows. I tried change the first part of Base URL into http://localhost , http://127.0.0.1/osm_tiles and so on, none of them works. I am thinking maybe I need to do some additional steps after following the above link? I am new to the map server thing, please help!

Actually, if anyone knows how to build a local WMTS for mapviz and give some instructions will be great!

Thanks,

Hao