Hi Patrick, the graph_mapping stack does allow starting SLAM with a saved
map.  Call the save_map service to save the current map at any point, and
start the mapper with the input_file private parameter set.   I should point
out that this stack is under active development, and the API will likely
change for the next release (0.3).
- Bhaskara

On Fri, Nov 26, 2010 at 6:14 PM, Patrick Goebel
<patrick@casbs.stanford.edu>wrote:

> Thanks Eric.  I read through that thread and I think I understand it.
> I'll have to do some more reading but I wonder if the topological
> navigation and graph_mapping stacks might be relevant here too.
>
> --patrick
>
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-- 
Bhaskara Marthi
Research Scientist
Willow Garage Inc.
650-475-2856