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How do I start gmapping with an initial map?

asked 2013-02-05 09:38:06 -0500

updated 2013-02-06 15:47:54 -0500

How do I give gmapping an initial map to start with?

My maps don't always turn out great, and it takes a long time to build them. I'd like to be able to map part of the house, when that looks good, save that map, and start again from there.

(This tutorial shows how to use a known map for AMCL, but not as a starting point for gmapping).

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answered 2013-02-05 13:15:38 -0500

weiin gravatar image

Short answer: Not possible.

Longer answer: http://answers.ros.org/question/37486/modifying-a-known-map-gmapping/ and the links inside

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Ah, but that gives me an idea. You could patch two maps together with gimp to make one bigger map.

Jon Stephan gravatar image Jon Stephan  ( 2013-02-05 14:16:43 -0500 )edit

yes, you can then use amcl to localise on that map.

weiin gravatar image weiin  ( 2013-02-05 18:24:58 -0500 )edit

Any gimp-like stuff is fine as long as the geometry stays intact. You could even correct the maps there.

dornhege gravatar image dornhege  ( 2013-02-05 22:44:42 -0500 )edit

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Asked: 2013-02-05 09:38:06 -0500

Seen: 955 times

Last updated: Feb 06 '13