Loading a prior map with gmapping

answered 2011-03-16 09:00:42 -0500

Brian Gerkey
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No, it's not. The occupancy grid representation of the map (for example, the pgm bitmap) doesn't contain enough state to resume mapping. Internally, gmapping is estimating a distribution over maps and robot trajectories, using a particle filter. To resume mapping, you'd have to save all of that internal state. In principle, it's possible to do that, but it's not currently implemented, and I would guess it would take quite a bit of work.

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Ok, I thought that might be the case. It would be nice to have a life-long learning approach to building maps, so that any changes in the environment can be accommodated. Saving the particle filter state might be something I could work on.

JediHamster ( 2011-03-16 10:47:20 -0500 )edit

For long-term mapping, including pause-and-resume abilities, I'd go for a constraint-graph SLAM algorithm, instead of a particle filter algorithm. I don't know whether it's implemented yet, but the [graph_mapping](http://www.ros.org/wiki/graph_mapping) stack should eventually be able to do this.

Brian Gerkey ( 2011-03-16 11:25:57 -0500 )edit

the new version of Karto will do this for you; they provide a ROS package interface, but it ain't free... (except for trial license)

Nick Armstrong-Crews ( 2011-12-29 01:11:20 -0500 )edit

Hi, according to the tutorial http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack, it is possible to load a static map into rviz. But I am also unable to load the static map? Anyone solve this issue?

RB ( 2014-04-07 01:16:46 -0500 )edit

@RB rviz is used to display the static map, not load it. To load it, check out map_server. Also, your question is almost completely unrelated to this question, so you should have posted this as a different question.

kwiesz91 ( 2015-09-15 16:02:13 -0500 )edit

Is it possible that we have a solution by getting the current location to resume gmapping? I suggest comparing the current view for the sight sensors to the old map & see where is this current robot. Any luck on this? In fact I m working on somthing similar, anyone with solutions to this solution?

Avonic ( 2016-03-01 02:46:39 -0500 )edit

I am interested in this with a few handy (I believe) constraints. Imagine a robot that maps, then docks to recharge. The dock is at the same location as the start of previous mapping. How to restart from known origin and orientation, then?

Dino ( 2016-10-30 20:39:28 -0500 )edit

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