Using other map for navigation

Posted by emspark85 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-other-map-for-navigation-tp4575.html

 Hi again, Matlabbe!

Finally I have managed to mapping and navigation properly. Thanks for the help all the time.
This time, i'm curious whether there is a way to use other saved 2D map for auto-navigation.

During localization mode (for auto navigation), rtabmap seems like to localize it based on /rtabmap/grid_map.
However, I would like to use the projected_map (using .bt file) which is published by octomap_server_node.

Below are the steps that I've done.

Mapping
- rtabmap
- octomap_saver to save specific octomap in .bt file

Navigation
- rtabmap (localization only)
- octomap_server_node to publish .bt map that is saved above
- projected_map is published by octomap_server and is referred by auto-navigation package
- in rviz map, there I can choose either projected_map or rtabmap/grid_map for 2D map

I know that /rtabmap/grid_map can be referred by navigation package, but is there a way to use projected_map(saved in .bt format and published by octomap_server) for localization and navigation???