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).  <br>
- Bhaskara<br><br><div class="gmail_quote">On Fri, Nov 26, 2010 at 6:14 PM, Patrick Goebel <span dir="ltr">&lt;<a href="mailto:patrick@casbs.stanford.edu">patrick@casbs.stanford.edu</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Thanks Eric.  I read through that thread and I think I understand it.<br>
I&#39;ll have to do some more reading but I wonder if the topological<br>
navigation and graph_mapping stacks might be relevant here too.<br>
<font color="#888888"><br>
--patrick<br>
</font><div><div></div><div class="h5"><br>
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</div></div></blockquote></div><br><br clear="all"><br>-- <br>Bhaskara Marthi<br>Research Scientist<br>Willow Garage Inc.<br>650-475-2856<br>