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How to load a map
Description: Loading a map, using command-line toolsTutorial Level: BEGINNER
Next Tutorial: stdr_simulator/Tutorials/Robot manipulation
Contents
Using load_map to load a map
This tutorial assumes that you have killed all running nodes, launched in previous tutorials. We will launch a server without a map and then we will load a map using load_map command-line tool.
Launching a server without map
In a new terminal, run:
$ roslaunch stdr_launchers server_no_map.launch
Loading a map, using load_map tool
For more details about load_map see map_loader_node documentation. In new terminal, run:
$ roscd stdr_resources $ rosrun stdr_server load_map maps/sparse_obstacles.yaml
Spawn a server with a map already loaded
stdr_server_node can take as a command-line argument a filename to a map file and load it on startup. You can include that in a launch file, just like this:
<node type="stdr_server_node" pkg="stdr_server" name="stdr_server" args="$(find stdr_resources)/maps/sparse_obstacles.yaml"/>
or use the launcher provided:
$ roslaunch stdr_launchers server_with_map.launch
To learn how to load a map from STDR GUI, follow this tutorial.
