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How can i use a pre loaded map in navigation stack?

asked 2019-06-05 07:07:42 -0600

sajal
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I'm making a robot using RPi. I made a map using my hector_slam and rplidar on my laptop, so I have the pgm and yaml files (I was having some issue running hector_slam on RPi). How can I use it in the navigation stack. Do I need to create a map_server node and publish it? If yes, how should I do it.

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This is all discussed in the Navigation Stack tutorials.

billy ( 2019-06-05 13:53:53 -0600 )edit

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answered 2019-06-06 08:49:40 -0600

Lucas Marins

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You may use the map_server node at your launch file. Do not forget to upload the.yaml file.

Something like this.

  <arg name="map_file" default="$(find robot_navigation)/maps/my_map.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

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Asked: 2019-06-05 07:07:42 -0600

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Last updated: Jun 06 '19

How can i use a pre loaded map in navigation stack? edit

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How can i use a pre loaded map in navigation stack?