Map Server - FontysAtWork/ESA-PROJ GitHub Wiki

In our navigation stack we use a static, pre-created map. This map has a size of 10m by 10m and a resolution of 1cm. This map is created using gmapping_slam and used with AMCL . In order to use this map we use the map_server ROS node.

Creating a map

To create a map we use gmapping_slam . We launch the navigation stack in map creating mode. Then we drive the robot around the map viewing the results in rviz. When the map is good we save it to file.

Using a map

When a map is succesfully created it's time to actually use it. for launch instructions see the Pre-competition section. A component of the of the stack is the map_server node. This node loads a map from file and creates the /map topic for others to read map information. The navigation.launch file contains the following line:

<node name="map_server" pkg="map_server" type="map_server" args="$(env WORKSPACE)/maps/map_normal.yaml" />

This line starts the map_server in server mode with the mapfile in the args attribute. The map files are located at the maps directory (in the workspace folder).