I am making some good progress but I am having some problems trying to use a pre-built map.
I have built a map using webgui and rviz then saved the map with:
rosrun map_server map_saver -f ~/maps/my_map
Now I am trying to start with this saved map loaded. I have tried a few ways but mainly I have created a new .launch file based on demo_rosbot_pro.launch and added at the end:
This almost works … but it seems as soon as I ask it to do anything - and sometimes within a second of starting - the map reverts to the new, being-built-as-it-goes map, like i hadn’t loaded my map.
I can force the loading of my map with
rosrun map_server map_server ~/maps/my_map.yaml
while it is running and my pre-made map does load (in rviz view) but as soon as I try and move in my pre-built map, it reverts back to the new-being-built map.
So it is trying to load my pre-made map, but it looks like the 'making a new map as I go" task is still running and reverts when he has a change. Do i need to turn off the ‘make a map’ so it just works with the loaded map?
Also - probably not related but - I cant get 2D pose estimate to do anything. It prints:
Setting pose: 3.247 -0.130 1.452 [frame=map]
in the window it was started in, but it doesn’t seem to be taking any action or attempt to re-locate with this.
Thanks again for your help.