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Localise simultaneously in previous and current map

asked 2018-05-03 12:14:58 -0500

shiveshkhaitan gravatar image

updated 2018-05-03 12:17:52 -0500

How can we localise in a real time map (similar to SLAM) as well as in a previously created saved map? It is something like combining amcl and gmapping to work together(although they don't work together). The previously created map would be of the same environment but might be of only half of the actual run which the robot makes in the second run.

If that is not possible is it possible to combine the previously created map (assuming I dont have any other information about the map except for a map.pgm file itself) with the real time map and then create a single occupancy grid in which amcl can easily localise.

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answered 2018-05-03 16:50:29 -0500

No, this is not supported by gmapping. See also prior answers such as here and follow the links there.

You'd either have to add such functionality yourself, but a better option might be to have a look at cartographer, for which lifelong mapping is in development (but I'm not sure about the current status)

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Thank you.. Will try cartographer

shiveshkhaitan gravatar image shiveshkhaitan  ( 2018-05-03 22:47:51 -0500 )edit

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Asked: 2018-05-03 12:14:58 -0500

Seen: 169 times

Last updated: May 03 '18