Is is possible to convert ROS 1 style .yaml/png maps into slam_tool box compatible map?

asked 2022-04-09 19:33:08 -0600

dcconner gravatar image

I have some older ROS 1 style maps saved as .png and .yaml data.

Is there a way to import these into a map compatible with slam_toolbox localization (e.g. to replace AMCL)?

There is a save map service that appears to save data in this format, but are there any tools for "loading" old maps?

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Please refresh my memory, but how are maps in ROS 1 saved differently from ROS 2?

Joe28965 gravatar image Joe28965  ( 2022-04-12 04:17:13 -0600 )edit

The maps are "saved" as pgm and yaml for viewing, AMCL, AND RViz use. My understanding is that the slam_toolbox can do pure localization, but starts with a map as a "Pose Graph" in their own format. I want to take an old map in pgm / yaml and convert it so that I could then import into slam_toolbox for pure localization as a replacement for AMCL.

dcconner gravatar image dcconner  ( 2022-04-15 17:52:43 -0600 )edit
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