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How to use gmapping with an exist map?

asked 2018-11-12 16:44:01 -0500

Hui Zhang gravatar image

Hi all, I am working on this project and I'm wondering is there a way to use gmapping with an existed map? Like doing some extra exploration base on a partial map.

I've tried publish the map to /map topic directly. But it didn't work, I checked the source code, seems like the package stored its map in another variable so when the map is updated my published map will be simply overwritten.

Thank you in advance.

Hui.

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answered 2018-11-13 01:06:23 -0500

mgruhler gravatar image

By default, this is not possible.

You would have to adapt gmapping. I.e.

  1. load the a-priori map
  2. put it into the respective variable
  3. initialize the particle filter in a way that it's location corresponds to the correct one on the already existing map.

What will probably not work is to have a starting location that is off of the already existing map.

All in all, I guess this would be a great, but also non-trivial addition.

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thanks mgruhler, but what I am doing is distributing merged map into each agent so that they won't need to do redundancy work.

as a result, I may need this working while the node is running, so I'm looking for a way outside.

Hui Zhang gravatar image Hui Zhang  ( 2018-11-13 07:59:34 -0500 )edit

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Asked: 2018-11-12 16:44:01 -0500

Seen: 170 times

Last updated: Nov 13 '18