[ros-users] Extending or refining an existing map
wisesage5001 at gmail.com
Fri Nov 26 21:56:23 UTC 2010
This came up before on ros-users. See this message for a response:
would be useful to be able to initialize from an existing map, but the
current gmapping node cannot do it. Perhaps you could take a bagfile
recording of the first run, a bagfile of the second and then munge with the
timestamps and/or odometry if necessary to be able to play them back
sequentially to the same run of gmapping.
On Fri, Nov 26, 2010 at 3:01 PM, Patrick Goebel
<patrick at casbs.stanford.edu>wrote:
> I have been playing with the amcl and gmapping nodes (truly amazing) and
> so far things are working nicely. One question that I can't seem to
> answer from the documentation is this: if I have an existing map from a
> previous gmapping session, can I extend it or refine it in a new
> session? For example, suppose my robot maps out only part of my
> apartment on a given day. A few days later, I want to set him loose to
> map the rest of the apartment but I'd like to start with the existing
> map. Is this possible? Gmapping seems to start with a clean slate
> whenever it is run. And I tried running "rosrun mapserver map_saver"
> with amcl running but it doesn't look like amcl is updating the map (not
> that I was expecting it to).
> Patrick Goebel
> Behavioral Sciences
> Stanford University
> ros-users mailing list
> ros-users at code.ros.org
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