I cannot see the loaded map on rviz

asked 2022-01-24 10:47:06 -0600

Gagan gravatar image


I want to make my robot dog (unitree A1) to navigate around the building with the commands using coordinates on the map. I have already created the map (.yaml and .pmg) of the building.

I imagine the natural first step is to load the existing map and verify if the dog sees the map or not using rviz. However I am not being able to see loaded map in the rviz

Loading of the map

rosrun map_server map_server (path to .yaml)

Above command works fine.

My research informed me that I have to select map in my fixed frame setting of the rviz. However, no image of the map appeared.

My questions are the following

1) How can I ensure that map is loaded?

2) How can I see it in rviz

3) If anyone has experience with using rostopic pub /move_goal_simple ... command to navigate on existing map coordinates. can they please help?


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You've accidentally posted this question twice. It might be good to delete the other one just to keep things tidy.

cst0 gravatar image cst0  ( 2022-01-24 12:25:56 -0600 )edit


I have discovered something that explains the situation but I still don't know how to fix this.

I can see the map loaded in rviz if I just run the rviz and map command, however, I cannot see the map once I launch all the nodes required for navigation, which also includes lidar data input.

The data from lidar publishes on /map topic which is the same as the data published by map_server.

I feel the map data from the map_server is overridden by the lidar data once the lidar data begins to update.

Now I need to know how to make sure that lidar and the pre-created map (map_server) can coexist in rviz and how can I use coordinates of the map and lidar data for auto-navigation?


Gagan gravatar image Gagan  ( 2022-01-27 07:06:00 -0600 )edit