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cartographer-project / cartographer_turtlebot

Provides TurtleBot integration for Cartographer.
Apache License 2.0
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About the localisation mode #21

Closed JiayanQ closed 7 years ago

JiayanQ commented 7 years ago

Thanks for your brilliant work!

I just wonder that can I use the well-built map by the SLAM mode to carry out a navigation or localization work? Because I did not found the code to change the mode for SLAM to Localization in the cartographer_node_main.cc. Should I modify the code in some other documents to achieve the navigation task? Thanks.

And thanks again for this amazing work!!

damonkohler commented 7 years ago

Pure localization is not yet supported. However, lifelong mapping, which would negate the usefulness of pure localization, is planned.

The /map topic publishes a nav_msgs/OccupancyGrid that can be used by existing ROS nodes (e.g. navigation and localization).

JiayanQ commented 7 years ago

Thanks a lot for your reply.

Cheers, Jiayan

2016-10-06 22:03 GMT+11:00 Damon Kohler notifications@github.com:

Pure localization is not yet supported. However, lifelong mapping, which would negate the usefulness of pure localization, is planned.

The /map topic publishes a nav_msgs/OccupancyGrid that can be used by existing ROS nodes (e.g. navigation and localization).

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