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2016-10-30 20:45:03 -0500	commented answer	Loading a prior map with gmapping 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?
2016-10-30 20:45:01 -0500	commented answer	modifying a known map gmapping SO what are the missing parameters? I am interested in this as part of continuing mapping ( say, after docking for recharge). So the start orientation and location would be known. Why would it not be possible to continue after that?

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