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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