As of right now the global costmap is a rolling window, meaning the map moves with the robot. We need to set static_map to true, and rolling_window to false and add the map_server node into the gazebo.launch file.
[ ] Pass a empty plain white .pgm file to the map_server as a arguement on very first time
[ ] Set up map_saver to save the entire map (global_costmap) to that file that we loaded into the map_server, so we use it as our static_map on the following run.
[ ] set the origin of the static map so that it matches up with the course (not x=width/2 , y=length/2)
As of right now the global costmap is a rolling window, meaning the map moves with the robot. We need to set static_map to true, and rolling_window to false and add the map_server node into the gazebo.launch file.