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SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
GNU Lesser General Public License v2.1
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Load Map #719

Closed amit-z closed 4 months ago

amit-z commented 4 months ago

I am using slam toolbox with ROS2 - foxy. I have seen that there is a feature to load an existing map, by uncommenting the following params:

    # if you'd like to immediately start continuing a map at a given pose
    # or at the dock, but they are mutually exclusive, if pose is given
    # will use pose
    #map_file_name: test_steve
    #map_start_pose: [0.0, 0.0, 0.0]
    #map_start_at_dock: true

However, I have not seen an example for it. Is this feature working? What is the way to use it, i.e what is the default directory and how should I reference the map? What should be the map type (pgm/yaml)? Is there an relevant example?

SteveMacenski commented 4 months ago

Ask on robotics stack exchange, but I don't have any reason to think its not working unless you're reporting that its not working.