About Creating Topological Map

[Breezewrf]

Hi,

Thank you for your awesome open-source work, I am new to the field of robotic and curious about why creating a Topological Map and record a rosbag you mentioned on deployment. Since the paper said you proposed the method to navigate and expore robot in a unfamiliar scene, which maybe mean without any map, it seems confict with the concept?

[tukaiwen]

Hi~ have you known the answer to this question? I have the same question with you but i don't understand yet. Thanks a lot for help