Patrick,

This came up before on ros-users. See this message for a response:
http://code.ros.org/lurker/message/20100809.174112.5409a820.en.html

<http://code.ros.org/lurker/message/20100809.174112.5409a820.en.html>It
would be useful to be able to initialize from an existing map, but the
current gmapping node cannot do it. Perhaps you could take a bagfile
recording of the first run, a bagfile of the second and then munge with the
timestamps and/or odometry if necessary to be able to play them back
sequentially to the same run of gmapping.

- Eric

On Fri, Nov 26, 2010 at 3:01 PM, Patrick Goebel
<patrick@casbs.stanford.edu>wrote:

> Hello,
>
> I have been playing with the amcl and gmapping nodes (truly amazing) and
> so far things are working nicely.  One question that I can't seem to
> answer from the documentation is this: if I have an existing map from a
> previous gmapping session, can I extend it or refine it in a new
> session?  For example, suppose my robot maps out only part of my
> apartment on a given day.  A few days later, I want to set him loose to
> map the rest of the apartment but I'd like to start with the existing
> map.  Is this possible?  Gmapping seems to start with a clean slate
> whenever it is run.  And I tried running "rosrun mapserver map_saver"
> with amcl running but it doesn't look like amcl is updating the map (not
> that I was expecting it to).
>
> Thanks!
> Patrick Goebel
> Behavioral Sciences
> Stanford University
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