Changing map in runtime

[vishrutskaushik]

Hi,

I am looking to develop a pipeline that runs global localization initially when the robot is booted. The robot has the option to store multiple maps and the user selects the respective map after the robot is turned on.

I wanted to check if there is a way to change the initial map given to occupancy_grid_localizer in runtime.

Thanks in advance!

[milesprieb]

I have been working on a similar implementation and I can confirm that you can change maps. You will need to generate your own occupancy grid and provide the .png and .yaml files.

[ashwinvkNV]

Once the isaac_ros_occupancy_grid_localizer node has been launched, we do not have a feature to change the map it uses to localize against.

But one solution for your use case would be to start/run the isaac_ros_occupancy_grid_localizer node after the user has selected the map. Note that this will have to be done in a launch file or another node.

@hemalshahNV for viz.