Unable to Load Posegraph from ROS1 into ROS2

[LihanChen2004]

Required Info:

• Operating System: Ubuntu 22.04
  • Ubuntu 22.04
• Installation type: binary
  • binary
• ROS Version
  • ROS2 Humble
• Version or commit hash:
  • release
• Laser unit:
  • Livox mid360 but convert to 2D laser

I successfully converted .pgm to .posegraph format by building the ROS1 image of MigVega/Ogm2Pgbm in Docker. I have converted RMUC.pgm to RMUC.posegraph, but when I tried to load the map in ROS2 Humble on the host machine, I encountered an error:

[localization_slam_toolbox_node-12] [ERROR] [1715064875.276643345] [slam_toolbox]: serialization::Read: Failed to read file: Exception: unregistered class
[localization_slam_toolbox_node-12] [ERROR] [1715064875.276682895] [slam_toolbox]: DeserializePoseGraph: Failed to read file: /home/lihanchen/NAVIGATION_WS/RM2024_SMBU_auto_sentry_ws/install/rm_bringup/share/rm_bringup/map/RMUC.

Could the inability to utilize the posegraph map generated in ROS1 within ROS2 be the version cause? Are there any viable solutions available? Thank you for your assistance.

[LihanChen2004]

I have solved it another way by recording the bag in ROS1 and then creating the map in ROS2.

https://github.com/MigVega/Ogm2Pgbm/issues/8#issue-2303890105