ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

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

asked 2019-06-05 07:07:42 -0500

sajal gravatar image

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.

edit retag flag offensive close merge delete



This is all discussed in the Navigation Stack tutorials.

billy gravatar image billy  ( 2019-06-05 13:53:53 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2019-06-06 08:49:40 -0500

Lucas Marins gravatar image

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)" />
edit flag offensive delete link more

Question Tools



Asked: 2019-06-05 07:07:42 -0500

Seen: 469 times

Last updated: Jun 06 '19