how to use a saved map file on slam_toolbox

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Hi chopin1998@gmail.

I created together with a colleague a package for having the launch files and config files regarding the navigation stack, please have a look (https://github.com/fontysrobotics/tur...)

Now, if you want to just navigate I highly recommend you to use the navigation core and not slam_toolbox. But, if you want to continue mapping with slam_toolbox (yeah, it is cool and convenient to be able to map and navigate at the same time), then do the following:

• If resume, you need the posegraph/slam data file instead of the simple yaml/pgm file, program crashes if you feed the wrong data

• For saving the map: ros2 service call /serialize_map slam_toolbox/srv/SerializePoseGraph "{filename : 'give_any_name'}"

• For opening the map to continue mapping: ros2 launch turtlecrab slam_toolbox.launch.py use_map_file:='True' map_file:='<path_to_the_map_location>' map_pose:="[<x, y, z>]"

  • Where map_pose is relative to what /odom is publishing.

Now, if you saved your map as a .yaml file, then use the core navigation (slam) instead:

• ros2 launch turtlecrab nav_core.launch.py map:='<map_location.yaml>'