Zhiping,

On Thu, Feb 17, 2011 at 2:41 AM, Zhiping <TANZ0066@e.ntu.edu.sg> wrote:

>
> Hi to all,
>
> I'm currently trying to load an empty map by directly publishing it in the
> form of nav_msgs/OccupancyGrid instead of using the map_server.


Could you elaborate on why you want to load an empty map instead of simply
not initializing anything with a static map?


> Knowing amcl
> is combining all the 'tf' together, what should i do to pass the
> odom-to-map
> tf to amcl.
>

AMCL is not "combining all the tf together" in any filtering sense - it is
actually generating the odom->map transform! Hence, you do not need to feed
an odom-to-map transform into amcl. In fact, an odom-to-map transform would
be unnecessary if you don't have a map. In that case, there is no need to
run amcl at all.

If you want to build a map on the fly, you should look at the gmapping
package (http://www.ros.org/wiki/gmapping).

- Eric


>
> With thanks,
> Zhiping
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