Zhiping, Could you please ask this question on http://answers.ros.org We're transitioning troubleshooting questions to that website to decrease the volume on this mailing list and make past questions more visible. https://code.ros.org/lurker/message/20110216.014950.2c9cb33e.en.html Thanks, Tully On Thu, Feb 17, 2011 at 9:57 AM, Eric Perko wrote: > Zhiping, > > On Thu, Feb 17, 2011 at 2:41 AM, Zhiping 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 >> -- >> View this message in context: >> http://ros-users.122217.n3.nabble.com/Loading-empty-map-to-move-base-tp2516192p2516192.html >> Sent from the ROS-Users mailing list archive at Nabble.com. >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- Tully Foote Systems Engineer Willow Garage, Inc. tfoote@willowgarage.com (650) 475-2827