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Accessing saved obstacle grid map within my program

gmapping

asked 2013-01-22 02:21:46 -0500

kachilous
31 ●5 ●6 ●9

When I create an obstacle grid map using gmapping and my pr2 in gazebo, how do I make that map available to my code. If I provide the map as a service using: rosrun map_server map_server map.yaml, can I still subscribe to the /map topic to access it within my program?

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